SV-X5 Series Pulse Drive Instruction Manual V1.0

SV-X5-Series
Pulse Servo
Drive
Instruction Manual
June 2024 V1.00

Version:ATC/MMXC032410
※ Contents
Preface 5
About the instruction manual.................................................................................................................... 5
Confirmations during unpacking.............................................................................................................. 5
Safety precautions........................................................................................................................................ 5
Chapter 1 Model introduction, selection and installation 9
1.1 About the drive................................................................................................................................. 10

1.1.1 Drive model................................................................................................................................................................ 10
1.1.2 Part names................................................................................................................................................................. 11
1.1.3 Basic specifications.................................................................................................................................................. 12
1.1.4 Overload detection characteristics..................................................................................................................... 17
1.1.5 Drive dimension........................................................................................................................................................ 18
1.2 About the motor............................................................................................................................... 19

1.2.1 Motor model.............................................................................................................................................................. 19
1.2.2 Motor part names.................................................................................................................................................... 20
1.2.4 Allowable load of the output shaft..................................................................................................................... 26
1.2.5 N-T characteristics chart........................................................................................................................................ 27
1.2.6 Encoder specifications............................................................................................................................................ 30
1.2.7 About the oil seal..................................................................................................................................................... 30
1.2.8 Motor dimension...................................................................................................................................................... 31
1.3 External regenerative resistor selection..................................................................................... 37
1.4 Matching models for drives and motors.................................................................................... 38
1.5 Selection of peripheral cables and connector accessories................................................... 39
1.6 Installation of the drive and motor.............................................................................................. 41

1.6.1 Installation environment........................................................................................................................................ 41
1.6.2 Dustproof and waterproof..................................................................................................................................... 41
1.6.3 Installation direction and clearance.................................................................................................................... 41
Chapter 2 Motor and drive wiring instructions 43
2.1 System wiring diagram.................................................................................................................... 44
2.2 Description of motor connector interface ................................................................................ 47
2.3 Description of drive connector interface .................................................................................. 50
2.4 Instructions for using the CN1 interface (the second encoder connection).................... 51
2.5 Instructions for using the CN2 interface（STO function）................................................... 52
2.6 Instructions for using the CN3 interface（USB connection interface）........................... 54
2.7 Instructions for using the CN4/CN5 interface ......................................................................... 54
2
2.8 Instructions for using the CN6 interface（user I/O）............................................................ 55
2.9 Instructions for using the CN7 interface (encoder connection).......................................... 62
2.10 Timing diagram................................................................................................................................. 63
Chapter 3 Panel display and operation 66
3.1 Panel display and key description................................................................................................ 67
3.2 Display description........................................................................................................................... 68
3.3 JOG and parameter identification................................................................................................ 70

3.3.1 JOG operation and display ................................................................................................................................... 70
3.3.2 Key operation and display for parameter identification.............................................................................. 70
Chapter 4 Control function 71
4.1 Position control mode..................................................................................................................... 72
4.2 Speed control mode......................................................................................................................... 76
4.3 Torque control mode........................................................................................................................ 79
4.4 Motion control function.................................................................................................................. 81

4.4.1 Internal position instructions................................................................................................................................ 81
4.4.2 Interrupt positioning............................................................................................................................................... 84
4.4.3 Homing........................................................................................................................................................................ 87
4.5 Full closed-loop control.................................................................................................................. 90
Chapter 5 Application function 94
5.1 Stop protection function................................................................................................................ 95

5.1.1 Instantaneous power failure protection............................................................................................................ 95
5.1.2 Fault stop protection.............................................................................................................................................. 95
5.1.3 Over-travel stop protection.................................................................................................................................. 96
5.1.4 Stop protection deceleration time...................................................................................................................... 96
5.2 Soft limit function............................................................................................................................. 96
5.3 Absolute system................................................................................................................................ 97
5.4 Pulse output function...................................................................................................................... 98

5.4.1 Pulse division output............................................................................................................................................... 98
5.4.2 Z-phase signal output...........................................................................................................................................100
5.4.3 Pulse synchronization output function............................................................................................................100
5.5 MODBUS communication.............................................................................................................101

5.5.1 Read/write parameter by communication.......................................................................................................101
5.5.2 Read/write command by communication.......................................................................................................101
5.5.3 Control DI functions by communication..........................................................................................................103
5.5.4 Read DO function by communication..............................................................................................................104
5.5.5 Read encoder absolute position........................................................................................................................105
3
Chapter 6 Tuning 107
6.1 Gain tuning.......................................................................................................................................108

6.1.1 Overall description.................................................................................................................................................108
6.2 Automatic gain tuning..................................................................................................................109
6.3 Adaptive filter..................................................................................................................................111

6.3.1 Function description.............................................................................................................................................111
6.4 Manual gain tuning........................................................................................................................112

6.4.2 Tuning in the position mode...............................................................................................................................113
6.4.3 Tuning in the speed mode...................................................................................................................................113
6.4.4 Gain switching function........................................................................................................................................113
6.4.5 Feedforward function...........................................................................................................................................116
6.4.6 Mechanical resonance suppression..................................................................................................................117
6.4.7 Low-frequency vibration suppression.............................................................................................................118
6.5 Inertia identification.......................................................................................................................120

6.5.1 Self-learning of load parameters.......................................................................................................................120
Chapter 7 Parameters 121
7.1 List of parameters...........................................................................................................................122
7.2 Parameter description ..................................................................................................................133

P00 Basic setting..................................................................................................................................................................133
P01 Gain tuning ....................................................................................................................................................................136
P02 Vibration suppression.................................................................................................................................................143
P03 Speed & torque control parameters........................................................................................................................146
P04 Digital input and output.............................................................................................................................................151
P05 Analog input and output............................................................................................................................................157
P06 Expansion parameters.................................................................................................................................................160
P07 Auxiliary function.........................................................................................................................................................166
P08 Internal position instruction......................................................................................................................................170
P09 Communication setting..............................................................................................................................................179
P17 Expansion position control function.......................................................................................................................181
P18 Motor model.................................................................................................................................................................183
P20 Key and communication control interface............................................................................................................184
P21 Status parameters........................................................................................................................................................186
Digital input (DI) function definition table....................................................................................................................190
Chapter 8 Errors & alarms and troubleshooting 194
8.1 Error and alarm code list..............................................................................................................195
8.2 Error and alarm causes and handling measures....................................................................197
4
※ Preface
Thank you for using this product. This manual provides information about the SV-X5 series drives and motors.
Incorrect use and handling will not fully utilize the product's performance and may lead to accidents and a shortened
product life. Please read this manual carefully and use the product correctly.
About the instruction manual
• Although the contents of this instruction manual are as complete as possible, please feel free to contact
us in case of any doubt about the contents.
• Please note the following information in the instruction manual of the equipment to which this product is
applied.
•There is danger due to high voltage.
•There is danger due to residual voltage at the terminals and inside the machine after switching off the power supply.
•Partial high temperature
•Dismantling is strictly prohibited.
• The specifications and functions of this product are subject to change or addition without prior notice
due to performance upgrades.
• Please contact us in advance for information on the safety specifications of the device equipped with this
product.
• To prolong the service life of the motor and drive, use them under proper operating conditions. For
details, refer to the instruction manual.
• The instruction manuals contain the latest product information as much as possible and are subject to
change. Please contact us if a new version of the instruction manual is needed.
• Reproduction of this manual in part or whole is prohibited without permission.
Confirmations during unpacking
• Whether the physical product matches the ordered product.

• Whether there is any damage during delivery.
• If problems are found, contact the dealer promptly.
Safety precautions
Please always pay attention to the following safety precautions during acceptance, inspection, installation, wiring,
operation, and maintenance.
• The safety instruction levels, which may be caused by the neglect of the instruction or incorrect use of
this product, are classified and described in the following table.
Indicates that incorrect handling may result in death or severe injury.
Indicates that incorrect handling may result in injury or property damage.
• What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done.
Indicates what must be done.
5
Installation and wiring
Do not connect the motor directly to a commercial power. Otherwise, it may cause fire or malfunction.
Do not place any combustibles near the servo motor and drive. Otherwise, it may cause a fire.
Please place the drive within a protective case, and leave specified clear- Otherwise, it may cause an electric shock, fire, or
ances between the drive and control enclosure walls or other equipment. malfunction.
Please install the drive in a place that frees from excessive dust, water, Otherwise, it may cause an electric shock, fire, mal-
and oil. function, or damage.
Please install the drive to incombustible, such as metal. Otherwise, it may cause a fire.
The wiring must be done by a professional electrician. Otherwise, it may cause an electric shock.
The FG terminal of the motor or the drive must be grounded. Otherwise, it may cause an electric shock.
Otherwise, it may cause an electric shock, injury,
Please cut off the upper circuit breaker before wiring.
malfunction, or damage.
Please ensure a good connection of the cable with its electrified part Otherwise, it may cause an electric shock, fire, or
being well insulated. malfunction.
Operation and running
Do not touch the internal parts of the drive. Otherwise, it may cause burns or an electric shock.
The cables must not be excessively damaged, stressed, loaded, or Otherwise, it may cause an electric shock, malfunc-
pinched. tion, or damage.
Do not touch the rotating parts of the servo motor during operation. Otherwise, it may cause injury.
Do not use the drive in any place near water, corrosive or flammable
Otherwise, it may cause a fire.
gases, and flammables.
Otherwise, it may cause an electric shock, injury, or
Do not subject the drive to any extreme vibrations and impact.
fire.
Do not immerse the cables in oil or water during operation.
fire.
Do not conduct wiring or perform operations with wet hands.
fire.
Do not touch the keyway of the motor shaft with bare hands. Otherwise, it may cause injury.
Do not touch the motor, drive, and heat spreaders since they will heat up
Otherwise, it may cause burns or component damage.
during operation.
Do not connect the motor to an external power. Otherwise, it may cause a fire.
Other safety precautions

Please ensure equipment safety after earthquakes.
fire.
Ensure a correct installation and setting to prevent fire or personal injury Otherwise, it may cause injury, electric shock, fire,
during earthquakes. malfunction, or damage.
Please provide an external emergency stop circuit to ensure that opera- Otherwise, it may cause injury, electric shock, fire,
tion can be stopped and power switched off immediately. malfunction, or damage.
Maintenance and inspection

As there’s dangerous and high-voltage inside the drive, before wiring or
inspection, turn off the power and wait for 5 minutes or more until the Otherwise, it may cause an electric shock.
charge lamp turns off. Do not disassemble the drive.
Installation and wiring
A
Please install the servo motor and drive following the combinations
Otherwise, it may cause fire or malfunction.
specified in this instruction.
•
Otherwise, it may cause an electric shock or
Do not touch the connector terminals directly.
malfunction.
Do not block the intake and let any foreign materials enter into the
Otherwise, it may cause an electric shock or fire.
equipment.
The test operation must be done with the motor being fixed but
separated from the mechanical system. Only after confirming the Otherwise, it may cause injury.
operation can the motor be installed to the mechanical system.
The servo motor must be installed following the specified directions and
Otherwise, it may cause injury and malfunction.
methods.
Ensure a proper installation in accordance with the weight and rated
output of the equipment.
Operation and running
Otherwise, it may cause an electric shock, injury,
Do not stand or put any heavy objects on the equipment.
malfunction, or damage.
Do not make extreme gain adjustments or changes, which will result in
Otherwise, it may cause malfunction or damage.
unstable running.
Keep it away from the direct sunlight. Otherwise, it may cause malfunction.
Do not subject the motor and its axis to heavy impact. Otherwise, it may cause malfunction.
The electromagnetic brake on the motor is designed to hold its shaft

and should not be used for ordinary braking.
When power is restored after an instantaneous power outage, keep
away from the machine because it may be restarted suddenly. Set the Otherwise, it may cause injury.
machine so that it is secured against personal injury if restarted.
Otherwise, it may cause an electronic shock, fire, or
Do not use any malfunctioning or damaged motor or drive.
injury.
Please confirm that the power supply specification is normal. Otherwise, it may cause malfunction.
Holding brake is not a safety stopper used for ensuring machine safety.
Otherwise, it may cause injury.
To ensure safety, install a stopper on the machine side.
When any alarm has occurred, eliminate its cause, ensure safety, and
Otherwise, it may cause injury.
deactivate the alarm before restarting the operation.
The brake relay and the emergency stop relay must be connected in
Otherwise, it may cause injury or malfunction.
series.
Transportation and storage

Do not subject the equipment to rain, droplets, toxic gas, or fluid. Otherwise, it may cause malfunction.
Do not carry the motor by the cables or shaft during transportation. Otherwise, it may cause injury and malfunction.
Do not drop or overturn the motor during transportation and installation. Otherwise, it may cause injury and malfunction.
For long-term storage, please contact HCFA via the contact information
Otherwise, it may cause malfunction.
listed in this manual.
Please store in a storage place that complies with the storage environ-
ment specified in this manual.
Other safety precautions

Please insulate the battery with adhesive tape and dispose of it following the law of each country (area).
When disposing of the equipment, treat it as an industrial waste.
7
Please contact HCFA for further instructions on removal, installation, and
repair.
A
Do not turn on and off the main circuit power switch too frequently. Otherwise, it may cause malfunction.
Do not touch the heat sink and regenerative resistor of the motor and
•
drive because their temperatures may be high while power is on or for Otherwise, it may cause burns or electric shock.
some time after power-off.
When the drive becomes faulty, switch off the control circuit and main
Otherwise, it may cause a fire.
power.
If the equipment is to be stored for a long time, please switch off the Otherwise, it may cause injury caused by the malfunc-
main power. tion of the equipment.

< Warranty period>
● The term of warranty for the product is eighteen (18) months from the date of manufacture. However, for the motor with a brake, the
warranty period does not exceed the maximum period that the shaft can accelerate or decelerate.
< Warranty coverage >
● This warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and
instructions that are stated in the instruction. However, even during the warranty period, the repair cost will be charged to customers in the
following cases.
① A failure caused by improper storing or handling, repair, and modification.
② A failure caused by drops or damages during transportation.
③ A failure caused by using without following the product specifications.
④ A failure caused by external factors such as inevitable accidents, including without limitation fire, earthquake, thunder and lightning,
flooding and wind hazard, salty damage, and abnormal fluctuation of voltage.
⑤ A failure caused by the intrusion of water, oil, metal sheet, and other foreign materials.
● The warranty coverage is only for the product itself. HCFA bears no joint responsibility and makes no compensation for any further damag-
es caused by product malfunction.
8
Chapter 1 Model introduction, selection and
installation
1.1 About the drive................................................................................................................................. 10

1.1.1 Drive model................................................................................................................................................................ 10
1.1.2 Part names................................................................................................................................................................. 11
1.1.4 Overload detection characteristics..................................................................................................................... 17
1.1.5 Drive dimension........................................................................................................................................................ 18
1.2 About the motor............................................................................................................................... 19

1.2.1 Motor model.............................................................................................................................................................. 19
1.2.2 Motor part names.................................................................................................................................................... 20
1.2.4 Allowable load of the output shaft..................................................................................................................... 26
1.2.5 N-T characteristics chart........................................................................................................................................ 27
1.2.6 Encoder specifications............................................................................................................................................ 30
1.2.7 About the oil seal..................................................................................................................................................... 30
1.2.8 Motor dimension...................................................................................................................................................... 31
1.3 External regenerative resistor selection..................................................................................... 37
1.4 Matching models for drives and motors.................................................................................... 38
1.5 Selection of peripheral cables and connector accessories................................................... 39
1.6 Installation of the drive and motor.............................................................................................. 41

1.6.1 Installation environment........................................................................................................................................ 41
1.6.2 Dustproof and waterproof..................................................................................................................................... 41
1.6.3 Installation direction and clearance.................................................................................................................... 41

1.1 About the drive
1.1.1 Drive model
A
Drive nameplate
• Model introduction, selection and installation

Model identification
10
◆ Function table for each model
Model
SV-X5EA SV-X5FA SV-X5EB SV-X5FB SV-X5EN SV-X5FN
Function
A
Analog input Available 2 channel Unavailable Unavailable Unavailable 2 channel

Pulse input Available Available Unavailable Unavailable Unavailable Unavailable
Pulse frequency division output Available Available Unavailable Unavailable Unavailable Available
Z-phase collector output Available Available Unavailable Unavailable Available Available
Serial communication USB/485 USB/485 USB USB USB/485 USB/485
Full closed loop mode Unsupported Supported Unsupported Unsupported Unsupported Unsupported
Gantry synchronization mode Unsupported Supported Unsupported Unsupported Unsupported Unsupported
◆ Interface table for each model
Model
SV-X5EA SV-X5FA SV-X5EB SV-X5FB SV-X5EN SV-X5FN
Interface
CN1: the second encoder Unavailable Available Unavailable Unavailable Unavailable Unavailable
CN2: STO interface Unavailable Available Unavailable Available Unavailable Available
CN3: USB interface Available Available Available Available Available Available
CN4/CN5: network interface Available Available Available Available Available Available
CN6: user I/O Available Available Available Available Available Available
CN7: encoder Available Available Available Available Available Available
1.1.2 Part names
◆ Drive model with a power of 100W~1KW
11
◆ Drive model with a power of 1.5KW~2.5KW
A
1.1.3 Basic specifications
◆ Specifications for a drive with an input power supply of 220V
Item Specifications
Model name SV-X5FAxxxA-A 010 020 040 075 100 150 200 250
Power 100W 200W 400W 750W 1KW 1.5KW 2KW 2.5KW
W（mm） 35 52 80
Dimension H（mm） 174 174 174
D（mm） 152 152 184
Weight（kg） 0.8 1 1.5
Single-phase 200~240 50/60Hz ( for drive model with power less than 1.5 kW)
Voltage input
Single/three-phase 200~240V 50/60Hz ( for drive model with power larger than 1.5 kW)
◆ Basic specifications
Item Specifications
Ambient
operating 0~55℃
temperature
Temperature
Ambient
storage tem- -20~65℃
Basic Environ-
perature
specifica- mental
Ambient oper-
tions specifica- Less than 20~85%RH (with no condensation)
Humidity ating humidity
tions
Less than 20~85%RH or less (with no condensation)
Operating & Storage atmo- Indoors (no direct sunlight) , free from corrosive gas, flammable gas, oil mist, dust and
sphere dirt
Altitude Less above 1000m
12
5.8m/s2 (0.6G) or less, 10~60Hz (no continuous operation allowed at frequency of
Vibration
resonance)
Insulation withstand voltage Between power terminals and FG terminals: AC1,500 V for 1 min
A
Control type Sine-wave three-phase PWM converter
Encoder feedback Support 17bit (131072 resolution)/23bit (8388608 resolution) serial encoder

8 inputs (DC24V optoisolator)
Input
Switch according to control mode function
Control signal
5 outputs (DC24V optoisolator, open collector output)
Output
Switch according to control mode function
Analog signal Input 2 inputs (±10V) (analog inputs is only available for X5FA series models)
Input 4 inputs (2 collector pulse inputs and 2 differential pulse inputs)
Pulse signal
Output 4 outputs (A/B/Z-phase RS-422 differential, Z-phase open collector output)
USB PC communication (connects with 「HCS-Studio」software)

Communication function
RS485 Host computer remote control communication (1: n)
Regenerative function Standard, with external higher power braking resistor
Dynamic brake Built-in

Seven modes: position control; speed control; torque control; position/speed control;
Control mode
position/torque control; speed/torque control; bus mode
Servo ON, alarm reset, deviation counter clear, positive overtravel, negative overtravel,
reverse instruction input, internal instruction selection input 1, internal instruction
Control input
selection input 2, internal instruction selection input 3, internal instruction selection
input 4, internal position instruction enable input, origin position input
Alarm state, servo ready, brake OFF, torque limit output, position near, position arrival,
Control output
end of origin position reset, motor rotation output, zero speed signal output
Function Maximum instruction Differential pulse input: frequency is up to 4MHz, pulse width is not less than 125ns
Position
pulse frequency Open collector: frequency is up to 200KHz, pulse width is not less than 2.5μs.
control
Input pulse signal
Differential input; open-collector
form
Input pulse signal
Pulse Pulse+ direction, right angle phase deviation (A Phase + B Phase), CW+CCW pulse
method
input
Instruction pulse
A/B A: 1~1073741824
division and multi-
B: 1~1073741824,
plication frequency
Encoder resolution/10000000 < A/B <Encoder resolution/2.5
(gear ratio setting)
Position
Instruction filter Smoothing filter, FIR filter
control
A-Phase, B-Phase: Differential output
Output pulse form
Pulse Z-Phase: Differential output or open collector output
outpu Division ratio Arbitrary frequency division
Output pulse function Encoder position pulse and encoder pulse instruction (configurable)
Servo ON, alarm reset, reverse rotation speed instruction, zero speed clamp, internal
instruction selection input 1, internal instruction selection input 2, internal instruction
Control input
Speed selection input 3, internal instruction selection input 4, forward rotation external torque
control limit input, reverse rotation external torque limit input, emergency stop
Alarm state, servo ready, brake release, torque limit output, speed limit output, speed
Control output
arrival, speed conformity, motor rotation output, zero speed signal output
13
Speed instruction
Input voltage -10V to +10V (maximum speed at ±10V)
input
Four options:
A
(1) Forward and reverse internal torque limit with factory default setting.
Set P03.09 and P03.10 positive and negative torque limit respectively.

(2) Positive and negative external torque limit.
Set P03.11 and P03.12 positive and negative torque limitation respectively.
Then select the positive and negative torque limit by DI function P_CL and N_CL respec-
Torque limit instruc- tively.
tion input (3) 2-TLMTP is used as the forward and reverse torque limit, i.e., the AI1 or AI2 input is
An-
used as the forward and reverse limit value at the same time.
alog
(4) 3-TLMTP, TLMTN positive and negative limiting, i.e., AI1 and AI2 inputs are used as
input
positive and negative limiting values respectively.
That is, the AI1 and AI2 inputs are used as the forward and reverse limiting values
respectively.
Two options:
Torque feed-forward (1) Internal torque feed forward
instruction input (2) Use TFFD as torque feedforward input, i.e., use AI1 or AI2 input value as torque
feedforward.
Internal speed
Use the DI terminal signal combinations to select speeds from 0 to 16 segments.
instruction
Control input Servo ON, alarm reset, reverse rotation torque instruction, zero speed clamp
Alarm state, servo ready, brake release, torque limit, speed limit output, emergency
Control output
stop
Torque
Torque instruc-
control Analog input DC±10V/ Rated torque (default setting, range can be set by function code)
tion input
(1) Positive/negative internal speed limit P03.27, P03.28
Speed limit function
(2) SPL; AI input value is used as speed limit value.
Speed limit function Available
Vibration frequency damping
Available
and control function
Auto-adaptive notch filter Available
Auto-tuning function Unavailable
Common Encoder output division and

Available
functions multiplication frequency
Internal multi-segment
Available
positioning function
Adjusting and function
Use the software「HCS-Studio」in the SV-X5E host device for adjusting.
setting
Overvoltage, abnormal power supply, overcurrent, overheat, overload, abnormal
Protective function
encoder, overspeed, overlarge position deviation, abnormal parameter
14
The functions listed above are not included in some models of the drive, please refer to "1.1.1 Drive model" to confirm the
model before use.
Refer to the following table for using pulse instruction input
A
Parameter Minimum necessary time margin （t1、t2、t3、t4、t5、t6）
P00.07/

P00.27
Logic Input signal form Signal name
Pulse train Positive direction instruction Negative direction instruction
instruction
input mode
Pulse direction Pulse CMD_PLS

0 Positive logic
Instruction pulse Direction CMD_DIR
Pulse direction Pulse CMD_PLS

1 Negative logic
Instruction pulse Direction CMD_DIR
AB phase right angle A Phase CMD_PLS

2 Positive logic
Phase pulse B phase CMD_DIR
AB phase right angle A Phase CMD_PLS

3 Negative logic
Phase pulse B phase CMD_DIR
Positive direction
pulse CW CMD_PLS
4 Positive logic
Reverse direction CCW CMD_DIR
pulse
Positive direction
pulse CW CMD_PLS
5 Negative logic
Reverse direction CCW CMD_DIR
pulse
◆ The maximum pulse frequency and minimum pulse width of the instruction input pulse signal
Input pulse Maximum pulse Minimum required time（μs）

signal frequency t1 t2 t3 t4 t5 t6
Open collector
200Kpps 2.5 2.5 2.5 5.0 2.5 2.5
interface
Differential
4Mpps 0.125 0.125 1.25 0.25 0.125 0.125
interface
① The rise and fall times of the instruction pulse input signal are set to 0.1μs or less.
② The pulse is counted as it rises from Low to High.
③ Set the pulse input filter parameter P06.41/P06.49 according to the input frequency.
Use the mounting holes on the drive and screw it to the protective case, etc. For details, follow "1.6.3 Installation direction
and clearance", and be careful to leave enough space to control the ambient temperature. For details, refer to the following
15
A • Model introduction, selection and installation
16
ambient temperature efficiency of the drive.
1.1.4 Overload detection characteristics
For the SV-X5 series drive, if the torque of the motor drive surpasses the value specified in the overload detection charac-
teristics mentioned below, the protector will trigger, resulting in an overload abnormality alarm and an emergency stop of the
A
motor.
17
1.1.5 Drive dimension
100W/200W/400W
Power input rating: 220V：100W/200W/400W
A
750W/1KW
Power input rating: 220V：750W/1KW
1.5KW/2KW/2.5KW
Power input rating: 220V：1.5KW/2KW/2.5KW
18
1.2 About the motor
1.2.1 Motor model
A
Motor nameplate

Model identification
19
20
Motor part names
1.2.2
1.2.3 Basic specifications
AC200V~240V
Item Unit Specifications
A
Voltage V DC280V

Motor model MH005A MH010A MA020A MH020A MA040A MH040A
-
(SV-X6 □□□□□ -****） High inertia High inertia Low inertia High inertia Low inertia High inertia
Mounting flange dimension mm 40 60
w/o brake 0.33 0.45 0.9 0.87 1.28 1.22
Weight kg
w/ brake 0.55 0.66 1.3 1.27 1.67 1.61
Rated output power W 50 100 200 200 400 400
Rated torque N.m 0.16 0.32 0.64 0.64 1.27 1.27
Instantaneous maximum torque N.m 0.56 1.11 1.91 2.23 3.82 4.46
Rated current Arms 1.1 1.1 1.7 1.4 2.7 2.1
Instantaneous maximum current Arms 5.5 5.5 6.5 6.9 10.2 10.4
Rated speed rmp 3000
Maximum speed rmp 6000 5000
Torque constant N.m/ Arms 0.168 0.327 0.427 0.5 0.488 0.67
Induced voltage constant per

mV/(r/min) 5 10.43 14.5 14.61 17.8 20.85
phase
Baic specifi-
cations Rate of change w/o brake 6.7 14.4 28.9 14.1 60 28.8
kW/ s
of rated power w/ brake 6.1 13.8 23.8 13.2 54 27.8
Mechanical time w/o brake 2.8 2.17 0.728 1.39 0.499 1.3
ms
constant w/ brake 3.09 2.26 0.848 1.49 0.554 1.35
Electrical time constant ms 1.12 1.32 6.17 3.9 6.36 4.21
Motor rotor w/o brake 10^(-4) 0.038 0.071 0.16 0.29 0.28 0.56
inertia w/ brake kg.m^2 0.042 0.074 0.17 0.31 0.29 0.58
Radial load 68 68 245 245 245 245

Allowable load N
Axial load 58 58 98 98 98 98
Encoder 17bit serial communication（EIA422）
Application Holding brake (note: not for braking)
Use a power supply with reinforced insulation due to SELV power supply or
Power supply -
hazardous voltage.
Rated voltage V DC24V±10%

Brake specifi-
Rated current A 0.25 0.3 0.36
cations
Static friction torque N.m 0.38 or more 1.6 or more
Absorption time ms 35 or less 50 or more
Release time ms 20 or less
Release voltage V DC1V or more
Rated time Continuous
Ambient operating temperature 0℃～ 40℃ (with no condensation)

Ambient
Ambient operating humidity 20 ～ 85%RH (with no condensation)
operating
-20℃～ 65℃ (with no condensation)
condition Ambient storage temperature
Maximum temperature:80℃ for 72 hours
Ambient storage humidity 20 ～ 85%RH (with no condensation)
21
Operating & Storage atmosphere Indoors (no direct sunlight) , free from corrosive gas, flammable gas, oil mist, dust and dirt
Heat resistance rating Class B
Insulation resistance DC1000V-5MΩ or more
A
Insulation withstand voltage AC1500V for 1 minute

Vibration rating V15 (JEC2121)
Vibration resistance 49m/s2（5G）
Impact resistance 98m/s2（10G）
Protection rating IP65/（IP67）
・Grounded in accordance with the regulations, applicable to Class Ⅰ .
・Applicable to「Overvoltage category Ⅱ」
・Applicable to「Pollution degree ２」

Note Rated torque is the value shown when mounted on an L-beam approximately 2 times the size of the motor flange.
The brake connection cables have different polarities.

Red cable: Connects to +24V
Black cable: Connects to GND
22
AC200V~240V
Voltage V DC280V
A
MM100A MM100B
Motor model MA075A MH075A MH100C MH100A
- medium medium
﹙ SV-X6 □□□□□ -****） low inertia high inertia high inertia high inertia

inertia inertia
Mounting flange dimension mm 80 130
w/o
2.25 2.25 2.68 4.67 / 6.29
Weight brake kg
w/ brake 3.01 3.01 3.45 6.27 / 7.89
Rated torque N.m 2.39 2.39 3.185 4.77 4.77 4.77
Instantaneous maximum
N.m 7.16 8.36 11.13 14.3 14.31 14.5
torque
Rated current Arms 4.2 3.8 5.7 5.2 8.25 5.2
Arms 17.4 18.8 30 15.6 25 15.6
current
Rated speed rmp 3000 2000
Maximum speed rmp 4500 3000 5000 3000
Induced voltage constant

Basic specifi- mV/(r/min) 21.33 22.65 21.2 33.65 21.2 33.65
per phase
cations
Rate of change w/o brake 59.4 36.6 44.7 36.9 56 9.96
kW/s
of rated power w/ brake 53.8 34.4 42.8 30.8 49.3 9.46
Mechanical w/o brake 0.518 1.26 1.19 1.76 1.31 6.52

ms
time constant w/ brake 0.572 1.34 1.24 2.11 1.48 6.86
Motor rotor w/o brake 10^(-4) 0.96 1.56 2 6.18 9.16 22.9
Radial load 392 392 392 49 490 490

Allowable load N
147 147 147 196 196 196
Encoder 17bit serial communication (EIA422)
Use a power supply with reinforced insulation due to SELV power supply or hazard-
Power supply -
ous voltage.

Brake specifi-
Rated current A 0.42 0.9
cations
Static friction torque N.m 3.8 or more 14 or more
Release time ms 20 or less 60 or less
Rated time 0℃～ 40℃ (with no condensation)

Ambient
Ambient operating tempera-
operating 20 ～ 85%RH (with no condensation)
ture
condition
Ambient operating humidity -20℃～ 65℃ (with no condensation)
23
Ambient storage tempera-
ture
Ambient storage
20 ～ 85%RH (with no condensation)
A
humidity
Operating & Storage atmo-

Indoors (no direct sunlight) , free from corrosive gas, flammable gas, oil mist, dust and dirt
sphere


24
AC200V~240V
Voltage V DC280V
A
MM150B MG085A MG130A MG180A
Motor model MH150A MM200A
- medium Large torque Large torque Large torque
﹙ SV-X6 □□□□□ -****） high inertia high inertia

inertia at low speed at low speed at low speed
Mounting flange dimension mm 150 130 130 130 130 130
w/o
/ 7.37 6.98 4.67 5.87 6.98
Weight brake kg
w/ brake / 8.97 8.58 6.27 7.47 8.58
Rated torque N.m 7.16 7.16 9.55 5.41 8.28 11.5
N.m 21.5 21.5 28.6 14.3 23.3 28.6
torque
Rated current Arms 9.5 8 9.9 5.9 9.3 11.8
Arms 29 24 30 15.6 24 30
current
Rated speed rmp 2000 1500
Maximum speed rmp 5000 3000
Induced voltage constant per

Basic specifi- mV/(r/min) 25.9 34.84 37.95 33.65 34.84 40.18
phase
cations
Rate of change w/o brake 75.4 15.4 75.4 47.4 74.8 109
kW/s
of rated power w/ brake 68.6 14.8 68.6 39.6 75.9 98.7
Mechanical time w/o brake 3.16 5.15 1.24 1.76 1.41 0.91
ms
constant w/ brake 3.47 5.35 1.37 2.11 1.6 1
Motor rotor w/o brake 10^(-4) 12.1 33.4 12.1 6.18 9.16 12.1
Radial load 490 490 490 490 490 490

Allowable load N
Axial load 196 196 196 196 196 196
Encoder 17bit serial communication（EIA422）
Use a power supply with reinforced insulation due to SELV power supply or
Power supply -
hazardous voltage.

Brake specifi-
Rated current A 0.42 0.9
cations
Static friction torque N.m 3.8 or more 14 or more
Release time ms 20 or less 60 or less
Rated time Continuous

Ambient
Ambient operating tempera-
operating 0℃～ 40℃ (with no condensation)
ture
condition
Ambient operating humidity 20 ～ 85%RH (with no condensation)
25
-20℃～ 65℃ (with no condensation)
Ambient storage temperature
Ambient storage
20 ～ 85%RH (with no condensation)
A
humidity
Operating & Storage atmo-

Indoors (no direct sunlight) , free from corrosive gas, flammable gas, oil mist, dust and dirt
sphere


1.2.4 Allowable load of the output shaft
Allowable load Unit 50W 100W 200W 400W 750W 1kW

Radial direction N 68.6 68.6 245 245 392 392
Axial direction N 58.8 58.8 98 98 147 147
Allowable load Unit 1.5kW 2kW 850W 1.3kW 1.8kW

Radial direction N 490 490 490 490 490
Axial direction N 196 196 196 196 196
26
1.2.5 N-T characteristics chart
MM005A
A
MM010A
MA020A、MH020A
27
28
MA0100A、MH0100A
MA040A、MH040A
MA075A、MH075A
29
MA0150A、MH0150A
MA0200A
1.2.6 Encoder specifications
Item Specifications Note

SV- □□□□□□□□ -***N SV- □□□□□□□□ -***A
A
Model name —
﹙ 17bit） ﹙ 17bit）

Supply voltage VCC DC4.5V ～ 5.5V 5% or less
External power supply BAT — DC2.4V ～ 5.5V
External capacitor CAP — DC2.4V ～ 5.5V
Supply voltage VCC current consumption Typ 160mA Powe surges excluded
External power supply BAT current Battery voltage 3.6V when motor
— Typ 10μA
consumption is stopped at room temperature
One-turn optical resolution Absolute 131,072（17bit） —
Multiple-turn revolution count — —
Maximum rotation speed 6,000 r/min —
Output and input pattern Differential transmission —
Upward counting direction (Note 1) CCW direction —
Transmission method Half-duplex non-simultaneous serial communication —
Communication speed 2.5Mbps —
Operating temperature 0 ～ 85℃ —
External interference magnetic field ±2mT (20G) or less —
Note 1: Upward counting direction
Note: For motors with brake, please comply with the brake voltage specifications.
1.2.7 About the oil seal

When used in combination with a gearhead, oil may seep into the motor through the output shaft, so use an oil seal to
prevent oil from seeping into the motor, and all SV-X2 series motors are equipped with a part for mounting an oil seal. If an oil
seal is required, specify the SV-X2 servomotor with an oil seal when ordering.
Oil seal mounting part

油封安装部位
30
1.2.8 Motor dimension
MH005A High inertia
A
MH010A High inertia
31
32
MH020A High inertia
MA020A High inertia

33
MH040A High inertia
MA040A High inertia

34
MH075A High inertia
MA075A High inertia

35
MM100A High inertia
MH100A High inertia
36
MM200A High inertia
MH150A High inertia
1.3 External regenerative resistor selection
(1) Regenerative resistor value configuration
A
For X5 drives with the power of 100W~1KW, customers have the option to include a regenerative resistor when purchas-
ing. The size of the resistor is configured based on specific requirements.

Power 100W 200W 400W 750W 1KW
Regenerative resistance value 50Ω 50Ω 50Ω 50Ω 50Ω
Regenerative allowable power 50W 50W 50W 80W 80W
For X5 drives with the power of 1.5KW~2.5KW, customers have the option to include a regenerative resistor when pur-
chasing. The size of the resistor is configured based on specific requirements.
Power 1.5KW 2KW 2.5KW

Regenerative resistance value 40Ω 40Ω 40Ω
Regenerative allowable power 100W 100W 100W
(2) External regeneration resistor value

For the drive with the voltage input class of 220V and the power of 100W~1KW, P and BR of the power input interfaces are
connected to the regenerative resistor, and the specifications of the optional regenerative resistor for each model of the drive
are as follows.
Power 100W 200W 400W 750W 1KW

Regenerative resistance value ≥ 45Ω ≥ 45Ω ≥ 45Ω ≥ 40Ω ≥ 40Ω
Regenerative allowable power ≥ 50W ≥ 50W ≥ 50W ≥ 80W ≥ 80W
For the drive with the voltage input class of 220V and the power of 1.5KW~2.5KW, the internal regenerative resistor is used
when P and C of the power input interfaces are short-circuited.
When P and C of the power input interfaces are short-circuited, an external regenerative resistor is connected between P
and D. The specifications of the regenerative resistor for each model of the drive are as follows.
Power 1.5kW 2kW 2.5kW

Regenerative resistance value ≥ 30Ω ≥ 30Ω ≥ 30Ω
Regenerative allowable power ≥ 100W ≥ 100W ≥ 100W
When using an external regenerative resistor, it is necessary to set the drive parameters P00.21 (braking resistor configu-
ration), P00.22 (power capacity of the external regenerative resistor), P00.23 (resistance of external regenerative resistor), and
P00.24 (external regenerative resistor heat-up time constant).
Note: If a regenerative resistor is required, please refer to the above table to install a regenerative resistor.
Using the regenerative resistor values in the above table does not necessarily guarantee a good performance.
If an external regenerative resistor is used and the temperature is too high, increase the resistance value or the regenerative
allowable power.
37
1.4 Matching models for drives and motors
Motor frame number
Power supply input
A
Capacity Servo motor model (Flange dimension Drive model
rating
mm)

50W High inertia MH005A SV-X5 □□ 005A-A
High inertia MH010A 40
100W SV-X5 □□ 010A-A
Flat type MQ010A
Low inertia MA020A
Flat type MQ020A
60
Low inertia MA040A
Flat type MQ040A
Low inertia MA075A
750W 80 SV-X5 □□ 075A-A
High inertia MH075A
220V High inertia MH100C 80
1KW Medium inertia MM100A SV-X5 □□ 100A-A
130
High inertia MH100A
Medium inertia MM150A
1.5KW SV-X5 □□ 150A-A
High inertia MH150A
2KW Medium inertia MM200A SV-X5 □□ 200A-A
Large torque at low speed MG085A
850W
Large torque at low speed MG085B
130 SV-X5 □□ 150A-A
1.3KW
1.8KW SV-X5 □□ 250A-A
2KW Medium inertia MM200A SV-X5 □□ 200T-A
3KW Medium inertia MM300A SV-X5 □□ 300T-A
4KW Medium inertia MM400A
SV-X5 □□ 500T-A
5KW Medium inertia MM500A
380V 180
7.5KW Medium inertia MM750A SV-X5 □□ 750T-A
2.9KW Large torque at low speed MG290A SV-X5 □□ 500T-A
4.4KW Large torque at low speed MG440A
SV-X5 □□ 750T-A
5.5KW Large torque at low speed MG550A
38
1.5 Selection of peripheral cables and connector accessories
（1）Voltage input class 220V: 750W or less
A
Item Application Name Note

1 Drive and motor power connector
Connection cable -CAB-PWR75A-0.5M Length: 0.5 m
2 Drive and motor power connection cable Connection cable -CAB-PWR75A-3M Length: 3 m
Connection cable -CAB-PWR75A-5M Length: 5 m
3 Encoder cable terminal ENC-TE 750W
Connection cable -SVCAB-ENC75A-0.5M Length: 0.5 m
Connection cable -SVCAB-ENC75A-1.5M Length: 1.5 m
4 Regular encoder cable Connection cable -SVCAB-ENC75A-3M Length: 3 m
Connection cable -SVCAB-ENC75A-5M Length: 5 m
Connection cable -SVCAB-ENC75A-10M Length: 10 m
Connection cable -SVBOX-ENCABS+
5 Absolute encoder cable
Connection cable -SVCAB-ENC75A-?M
（2）Voltage input class 220V：1KW～2.5KW

1 Drive and motor power connector PWR-CON 1KW
2 Drive and motor power connection cable Connection cable -CAB-PWR100A-3M Length: 3 m
3 Brake connector PWB-CON 1KW
4 Encoder cable terminal ENC-TE 1KW
Connection cable -CAB-ENC100A-0.5M Length: 0.5 m
5 Regular encoder cable Connection cable -CAB-ENC100A-3M Length: 3 m
Connection cable -CAB-ENC100A-5M Length: 5 m
Connection cable -CAB-ENC100A-ABS-0.5M Length: 0.5 m
6 Absolute encoder cable Connection cable -CAB-ENC100A-ABS-3M Length: 3 m
Connection cable -CAB-ENC100A-ABS-5M Length: 5 m
7 50P pulse connector Pulse connector（CON-50P）
39
（3）Voltage input class 380V：2KW～7.5KW

1 Drive and motor power connector PWR-CON 2KW
A
Connection cable -CAB-PWR400C-0.5M Length: 0.5 m
Connection cable -CAB-PWR400C-1.5M Length: 1.5 m

2 Drive and motor power connection cable Connection cable -CAB-PWR400C-3M Length: 3 m
Connection cable -CAB-PWR400C-5M Length: 5 m
Connection cable -CAB-PWR400C-10M Length: 10 m
3 Brake connector PWB-CON 2KW
4 Encoder cable terminal ENC-TE 2KW
5 Regular encoder cable Connection cable -CAB-ENC100A-3M Length: 3 m
6 Absolute encoder cable Connection cable -CAB-ENC100A-ABS-3M Length: 3 m
7 44P pulse connector Pulse connector（CON-44P）
（4）Circuit breaker selection

Make sure to have a circuit breaker on the power input side of the drive to prevent accidents when using internal short cir-
cuits.
① Main circuit power supply single-phase input (any two interfaces from L1/L2/L3)
L1C-L2C control Power L1-L2 main power supply Main power supply
Model
Circuit breaker (A) recommended Circuit breaker (A) recommended Circuit breaker (A) recommended
SV-X45A010A-A - 6 6
SV-X5EA020A-A - 6 6
SV-X5EA040A-A - 10 10
SV-X5EA075A-A - 16 16
SV-X5EA100A-A - 16 16
SV-X5EA150A-A 6 20 20
SV-X5EA200A-A 6 25 25
SV-X5EA250A-A 6 25 25
② Main circuit power supply three-phase input (L1/L2/L3)
L1C-L2C control Power L1-L2 main power supply Main power supply
Model
Circuit breaker (A) recommended Circuit breaker (A) recommended Circuit breaker (A) recommended
SV-X5EA150A-A 6 10 10
SV-X5EA200A-A 6 16 16
SV-X5EA250A-A 6 16 16
40
1.6 Installation of the drive and motor
1.6.1 Installation environment
A
Please ensure an installation environment that meets the following conditions as follow.

1. Install the equipment in a place out of direct sunlight.
2. The drive must be installed in a control cabinet.
3. Free from water, oil (cutting oil, oil mist), and moisture.
4. Free from flammable and explosive gases, sulfuric gases, chlorinated gases, ammonia, and other corrosive atmospheres
including acid/alkali and salt.
5. Free from dust, iron powder, cutting powder, and so on.
6. Free from high temperature, excessive vibrations, and severe impacts.
When installing in an environment that is not specified above, please consult HCFA in advance.
1.6.2 Dustproof and waterproof

The drive is not waterproof, and the protective structure of the motor, except for the shaft output part and the connector
part, complies with the IEC 34-5 (International Electrical Standards Association) IP65 standard.
1.6.3 Installation direction and clearance
◆ Impact, weight-bearing
The motor can withstand an impact of 200m/s2 (20G) or less. When transporting, mounting, or dismounting the motor,
do not apply excessive impact or weight. Do not hold the encoder part, cable part, or connector part during transport. A claw
puller must be used when removing the pulley and coupling from the motor shaft.
◆ Integration with the mechanical system

The motor specifications state the permissible load value of the motor shaft. Exceeding the permissible load value may
shorten the lifetime of the internal bearings of the motor and cause damage to the motor shaft. Use a shaft coupling that can
fully absorb the eccentricity load. Do not apply more than 6kgf or more pressure to the encoder cable when assembling the
motor. Bend the power and encoder cables to a radius of R20mm or more.
◆ Installation direction and clearance

When installing the drive, please leave sufficient clearances to ensure effective heat dissipation and convection in the
sealed control cabinet.
41
Figure Mounting clearance diagram
A
• The drive can be installed only in the vertical direction. During installation, use two M5 screws to fix the drive with an
output power of 750W or less. Use three M5 screws each to secure the drive with an output power of 1kW or more and the
main drive when installing them.
• When installing the drive into the sealed cabinet such as a control cabinet, it is necessary to use fans or cooling
machines to ensure that the ambient temperature around plates is lower than 55℃. A fan or cooler is required for cooling.
• The surface temperature of the cold plates would be 30℃ higher than their surrounding temperature.
• Use heat-resistant wiring materials and isolate them from temperature-sensitive machines and cables.
• The life span of the servo drive depends on the temperature around the electrolytic capacitor. When the electrolytic
capacitor is near the end of its life span, the static capacity will decrease and internal resistance will increase. Consequently,
it will lead to overvoltage alarm, malfunction caused by noise, and component damages. The life span of the electrolytic
capacitor is approximately 5 to 6 years under the condition of an average annual temperature of 30℃, 80% load rate, and
average operation time of less than 20 hours per day.
◆ Other precautions
(1) The motor shaft comes from the factory with antirust oil on it. To prevent the motor shaft from rusting when installing
loads on the motor shaft, please antirust the motor shaft again.
(2) Never disassemble the encoder or the motor.
(3) Use the same power supply for the control voltage (24V and GND) and the upper control device.
(4) When exchanging batteries or performing maintenance on the encoder, be sure to turn off the main power switch be-
forehand.
(5) When the main power is switched off, there is a residual voltage in the power supply device for about 30 seconds.
Please be careful.
(6) Do not replace the fuse.
(7) Do not touch the ventilation openings on the right side of the servo drive with a power of 750W or more, and do not
block the servo drive or the ventilation openings in close proximity to the servo drive.
42
Chapter 2 Motor and drive wiring instructions
2.1 System wiring diagram.................................................................................................................... 44
2.2 Description of motor connector interface ................................................................................ 47
2.3 Description of drive connector interface .................................................................................. 50
2.4 Instructions for using the CN1 interface (the second encoder connection).................... 51
2.5 Instructions for using the CN2 interface（STO function）................................................... 52
2.6 Instructions for using the CN3 interface（USB connection interface）........................... 54
2.7 Instructions for using the CN4/CN5 interface ......................................................................... 54
2.8 Instructions for using the CN6 interface（user I/O）............................................................ 55
2.9 Instructions for using the CN7 interface (encoder connection).......................................... 62
2.10 Timing diagram................................................................................................................................. 63

2.1 System wiring diagram
◆ System wiring diagram for a drive with a power of 100W~1KW
B
• Motor and drive wiring instructions
[Points for correct wiring]
• The power supply is connected to L1 and L2, please use the single-phase AC220V.
• Please use a twisted-pair shielded cable if the I/O cable is longer than 50cm.
• The encoder cable should be shorter than 20m.
44
◆ System wiring diagram for a drive with a power of 1.5KW~2.5KW
B
[Points for correct wiring]
• The power supply is connected to L1 and L2, please use the single-phase AC220V.
• Main power supply L1/L2/L3, can be connected to three-phase AC220V or single-phase AC220V.
• Please use a twisted-pair shielded cable if the I/O cable is longer than 50cm.
• The encoder cable should be shorter than 20m
• Common DC bus solution must be at the same voltage input level and be powered up at the same time..
45
Item Description
In order to comply with European EC standards, select the appropriate device for each specification and
Peripheral device composition
set it according to the diagrams above.
The drive can be installed in a pollution degree 2 or pollution degree 1 environment according to
Installation environment
IEC60664-1.
Power supply 1: AC200 to 240V
(Main circuit and control circuit The drive can be used in overvoltage category II power supply environments according to IEC60664-1.
B
power supply)
The following conditions must be met to select the specifications for the DC24V external power supply.
Power supply 2: DC24V

Use a SELV power supply (※) with a capacity of 150W or less, which is a CE-compliant condition.
I/O power supply
※SELV: safety extra low voltage
Motor brake release power supply
(Safety extra low voltage/non-hazardous voltage. Hazardous voltage requires reinforced insulation)
For motor power cables, AC220V input cables, FG cables, and main circuit power distribution cables of
Wiring multi-axis configurations, use AWG18/600V voltage-resistant cables for the power of 750W or less, and
AWG14/600V voltage-resistant cables for the power of 1KW or more.
In order to protect the power cable, it is necessary to disconnect the circuit when overcurrent flows.
According to the above diagram, be sure to use a UEC-specified and UL-approved circuit breaker be-
Earth leakage circuit breaker tween the power supply and the noise filter.
To comply with EMC standards, use a circuit breaker with a leakage detection function recommended by
our company.
Prevents noise interference from the power cable.
Noise filter
To comply with EMC standards, use the noise filters recommended by our company.
Electromagnetic contactor Perform main power switching (ON/OFF). Connect an overvoltage protector for use.
Surge absorber To comply with EMC standards, use an overvoltage protector recommended by our company.
Signal cable noise filter / Ferrite
To comply with EMC standards, use the noise filter recommended by our company.
core
This product has a regenerative discharge resistor inside the drive with a power of 1.5KW or more, and
can be connected with an external regenerative resistor.
A regenerative resistor is required when the internal smoothing capacitor of the power supply device is
not sufficient to absorb and process regenerative power. For reference, check the regenerative discharge
Regenerative resistor condition on the setting panel, and use the regenerative resistor when the regenerative voltage warning
is ON.
For the reference specifications of regenerative resistor, please refer to [1.3 External regenerative resistor
selection].
Use the built-in thermostat and set the overheat protection circuit.
The products are equipped with protection settings for Class 1 equipment.
The products are grounded using a protective grounding terminal, which is implemented in a protective
box or electrical box with EMC compliance.
Earth grounding The protective earth terminal is indicated by the FG mark as shown below.
46
2.2 Description of motor connector interface
◆ Motor connector terminal arrangement and wiring color coding

Voltage input class 220V (750W or less)
Figure Motor connector and pin arrangement (50~750W)
B
Table List of cables（750W or less）
Name Cable
Motor power input AWG18
Brake（Note 1） AWG22
Encoder (incremental) Power supply: AWG22
Encoder (absolute) Signal: AWG24
Note 1: Applicable to motors with brakes.
47
Table For motor with the power of 750W or less
名称端子号码信号名内容配线色别

1 U Motor power U-phase output Red
2 V Motor power V-phase output White
Motor power input
3 W Motor power W-phase output Black
4 FG Motor housing grounding Green
1 BRK ＋ Brake power supply DC24 V Yellow
B
Brake (※1)
2 BRK- Brake power supply GND Blue
1 — NC -

2 +D Serial communication data + data White (red dot)
3 -D Serial communication data - data White (black dot)
Encoder (incremental)
4 VCC Encoder power supply 5V output Orange (red dot)
5 GND Signal grounding Orange (black dot)
6 SHIELD Shielded cable Black
1 BAT External battery (※2) Yellow (black dot)
2 +D Serial communication data + data White (red dot)
3 -D Serial communication data - data White (black dot)
Encoder (absolute)
4 VCC Encoder power supply 5V output Orange (red dot)
5 GND Signal grounding Orange (black dot)
6 SHIELD Shielded cable Black
Note: 1. Applicable to motors with brakes.
2. The external capacitors and batteries have GND as their reference potential.
3. The internal circuit (IC) is already connected internally and does not need to be connected to any cables here.
Voltage input class 220V（1KW~2.5KW）
Figure Motor connector and pin arrangement（1kW or more）
48
Table List of cables（1kW or more）
Name Cable
Motor power input AWG19
Brake（Note 1） AWG21
AWG24
Encoder (absolute)
Note: Applicable to motors with brakes.
B
Table For motor power with the power of 1 kW or more
Name Terminal No. Signal name Description Note

A U Motor power U-phase output
B V Motor power V-phase output
Motor power input
C W Motor power W-phase output
D FG Motor housing grounding
z BRK ＋ Brake power supply DC24 V
Brake（※1）
2 BRK- Brake power supply GND
1 VCC Encoder power supply 5V output
2 GND Signal grounding
3 — NC
4 — NC
5 +D Serial communication data + data
6 -D Serial communication data - data
7 — NC
8 — NC
9
10 SHIELD Shielded cable
3 CAP External capacitor (※2)
4 BAT External battery (※2)
5 +D Serial communication data + data
Encoder (absolute)
6 -D Serial communication data - data
7 IC Internal connection (※3)
8 IC Internal connection (※3)
10 — NC
Note: 1. Applicable to motors with brakes.
2. The external capacitors and batteries have GND as their reference potential.
3. The internal circuit (IC) is already connected internally and does not need to be connected to any cables here.
49
2.3 Description of drive connector interface
Before using, confirm the model number of the drive. Standard type drive has fewer functions than full-function type and
lacks certain interfaces corresponding to some functions.
◆ Connector interface definition for a drive with a power of 100W~1KW
B
◆ Connector interface definition for a drive with a power of 1.5KW~2.5KW
Note: CN1 and CN2 are not available for X5EA standard drive.
50
2.4 Instructions for using the CN1 interface (the second encoder con-
nection)
The second encoder is only available for X5FA (X5 pulse series full-function model), which has the second encoder inter-
face for connecting to an external displacement sensor, mainly for full closed-loop function and gantry synchronization.
◆ CN1 interface diagram
B
GND +5V
A- A+
B- B+
NC PE
◆ CN1 pin definition
Name Signal name Description

5V Power supply for external displacement sensor
GND Connected to GND of the control circuit
A+
The second encoder A- Parallel signals
B+ Maximum frequency accepted: 5M (after 4x frequency)
B-
PE Connected to the ground terminal inside the servo
◆ Instructions for using the second encoder

For the 5V power supply of the external sensor, please use the power output of pin 1 and pin 2 of the second encoder in-
terface (the maximum output current is 300mA).
Please connect the shield of the external sensor to that of the encoder cable, and connect the shield of the encoder cable
to the PE of the second encoder interface. During operation, please keep the encoder cable away from the power supply ca-
bles (L1, L2, L3, L1C, L2C, U, V, W).
51
2.5 Instructions for using the CN2 interface（STO function）
◆ STO wiring instructions

Safe Torque Off (STO) is a safety function that prevents the drive from transferring energy to the motor to generate cur-
rent. A safety bypass plug is supplied as standard. When the safety function is not used, please short-circuit the safety bypass
plug as required, otherwise the drive panel will display "sto". To use the safety function, connect the safety bypass plug to the
host controller as required.
B
STO_O UT - STO_ OUT+
STO2 - STO2 +
STO1 - STO1 +
G24 24V
◆ CN2 interface diagram
When not using STO, short-circuit the safety bypass plug as shown above.
◆ CN2 pin definition
Name Symbol Signal name Description

24V
24V source output
G24
STO1+
STO1- Two separate sets of circuits
STO function CN2
STO2+ Turn off the drive signal of the power module and cut off the power supply
STO2-
STO_OUT+
Monitor output that is used for monitoring safety function faults
STO_OUT-
52
◆ STO function block diagram
B
The external power supply must be a 24V DC power source.
◆ Instructions for using the STO function
STO1 status STO2 status STO_OUT status Drive panel status

Closed Closed OFF o ry
Closed Open OFF Sto
Open Open ON Sto
Open Closed OFF Sto
◆ STO safety precautions

When using the STO function, ensure that the safety requirements of the system are met. The following safety consider-
ations should be taken into account for STO function actions:
If an external force is applied along the vertical shaft, the motor will rotate. To maintain the position of the motor, an ex-
ternal brake needs to be applied to hold the position. In addition, it's important to note that the brake on motors with brakes is
designed exclusively for holding and cannot be used for stopping.
If no external force is applied and the dynamic brake fails to stop the motor at the set position, the motor will coast to stop,
which will result in a longer stopping distance. It is important to be aware of this situation when using the motor to prevent any
potential issues.
The STO function cuts power to the motor, but not the servo drive. To ensure safety during servo drive or equipment main-
tenance, disconnect the main power supply.
53
2.6 Instructions for using the CN3 interface（USB connection inter-
face）
This interface is used for connecting the drive to the computer, and the host device software [HSC-Studio] can be used to
operate the drive for trial operation, parameter adjustment, waveform acquisition and other operations.
Name Symbol Terminal No Signal name Description
B
1 VBUS USB power supply
2 D- USB data-

USB connection
CN3 3 D+ USB data+
interface
4 NC -
5 GND USB signal grounding
Note: For the connection cable between the drive and the computer, use USB mini-B (commercially available).
2.7 Instructions for using the CN4/CN5 interface

The definition of the network interface is varied for different drive models, so please check the model before using it. There
are mainly the following types of network interfaces corresponding to different models.
◆ CN4/CN5 interface diagram
16
15
14
CN4
13
12
11
10
9
8
7
6
CN5
5
4
3
2
1
◆ CN4/CN5 pin definition

X5 pulse model（X5EA/X5FA）
Model Symbol Terminal No. Signal name Description

1 NC
2 NC —
3 NC
4 RS485+ RS485+ signal from the host device
Pulse model CN4
5 RS485- RS485- Signal from the host device
6 NC
7 NC —
8 NC
54
9 NC
10 NC —
11 NC
12 RS485+ RS485+ signal from the host device
CN5
13 RS485- RS485- signal from the host device
14 NC
15 NC —
B
16 NC

2.8 Instructions for using the CN6 interface（user I/O）
◆ User I/O（CN6）interface description
55
Name Terminal No. Signal name Description
1 DO4+ Digital signal output +
2 DO3- Digital signal output -
B

8 DI4 Digital signal input
11 DI_COM Digital signal input common terminal
12 CC-D Collector pulse instruction input SIGN power supply (24V)
13 OUTZ+ Pulse output Z signal +
14 G24V Drive power supply GND
15 - -
16 - -
17 +24V Drive power supply 24V output
18 AI1 Analog input 1
19 AI2 Analog input 2
20 GND Analog reference GND

User-controlled I/O
24V power output 21 OUTA+ Pulse output A signal +
Parallel I/O 22 OUTA- Pulse output A signal -

Pulse sequence 23 OUTB- Pulse output B signal -
Instruction input 24 OUTZ- Pulse output Z signal -
ABZ output
25 OUTB+ Pulse output B signal +
28 DO5+ Digital signal output -
29 GND_OZ Collector Z signal output reference ground
35 CC-P Collector pulse instruction input PULS power supply (24V)
36 - -
37 SIGN+ Pulse instruction SIGN+
38 - -
39 SIGN- Pulse instruction SIGN-
40 - -
41 PULS+ Pulse Instruction PULS+
42 - -
43 PULS- Pulse instruction PULS-
44 OZOUT Collector Z signal output
56
◆ User I/O（CN6）wiring instructions
Pulse instruction differential input
B
57
Pulse instruction 24V open collector input
B
Note: The 24V collector pulse input wiring for the X5E(F)A user IO has one more pin 12 (CC_D) than that of the X2E. This pin needs
to be connected to 24V for 24V collector NPN wiring and 0V for 24V collector PNP wiring.
58
Analog instruction inputs
B
Note 1) The control power supply output (24V, G24V) can be used as a power supply for I/O (COM+, COM-) with the maximum
output current is 150mA. Use an external independent power supply when driving outputs such as relays and brakes.
Note 2) When driving inductive loads such as relays, please connect a protection circuit (continuity diode).
Note 3) Depending on the wiring method, the output pin can output a high or low level.
59
The specific connection ways are as follows:
B
Note 4) Termination resistors need to be connected to the differential signal connection terminals for differential pulse output.
Note 5) The shield of the connection cable between the drive and the host device needs to be connected to the drive housing and
the host device housing respectively.
Note 6) Differential pulse instruction input refers to differential pulse with amplitude ±5V, which is divided into two types according
to the pulse frequency: regular pulse instruction input and high-speed pulse instruction input.
① Regular pulse instruction (pulse frequency ≤ 500k Hz). In this case, P00.05 is set to 0, and the pulse input filter parameter is
P06.41.
② High-speed pulse instruction (pulse frequency ≤ 4M Hz) . In this case, P00.05 is set to 3, and the pulse input filter parameter is
P06.49.
Note 7) There are two cases here, which are distinguished according to the different ways of pulse generation, one is the NPN type,
and the other one is the PNP type, as shown in the figure below.
60
Note 8) For pulse instruction 5V open collector input, it can be received by 5V differential with 300Ω external resistor, there are two
cases, one is NPN type and the other is PNP type according to the way of pulse generation.
B
Note:
※The DI function can be flexibly configured by function code, DI is by default valid when it is conducted, and its positive and
negative logic can be modified by function code.
※DO function can be flexibly configured by function code, DO is by default conducted when it is valid, and its positive and negative
logic can be modified by function code;
※The digital filter of the collector and common pulse input is P06.41, when the pulse frequency is below 500k Hz, set P06.41 to 80,
if the interference is too strong, adjust this parameter appropriately. The digital filter of high-speed pulse input is P06.49, when the
pulse frequency is 500K~3M, set P06.49 to 20, when the pulse frequency is 3M~4M, set P06.49 to 10.
61
2.9 Instructions for using the CN7 interface (encoder connection)
The interface is used for connecting the drive to the motor encoder. When using, the cable should be 30cm away from the
main circuit wiring.
◆ CN7 interface diagram：
B
◆ CN7 pin diagram：
5 3 1
6 4 2
◆ CN7 pin definition：
2 GND Signal ground
3 NC -
Encoder CN7 4 NC -
5 +D Encoder signal: data input/output
6 -D Encoder signal: data input/output
— FG Connect the shielded cable to the connector housing
62
2.10 Timing diagram
◆ When the power is ON (timing of receiving servo enable signal)

P06.26=0～2 (not to hold DB during power-on)
B
P06.26=3～5 (hold DB during power-on)
◆ Servo-enabling on/off action during motor rotation

P06.26=0 ﹙coast to stop, remain free）
The timing of " Holding brake release signal" during the servo OFF is related to the setting of servo parameter P04.52 and
P04.53 and the running speed of the motor, see the parameter description for details, and the minimum value is 5ms.
63
P06.26=1/2 ﹙quick stop, remain free）
B
The timing of " Holding brake release signal" during the servo OFF is related to the motor running speed, see the parame-

ter description for details, and the minimum value is 4ms.
DB stop P06.26=3 ﹙DB stop，hold DB）
DB stop P06.26=4/5 ﹙quick stop, hold DB）
◆ When an abnormality (malfunction) occurs (instruction status of servo-enable is on)

P06.27=0 ﹙coast to stop, remain free）
The timing of the "Holding brake release signal" during the faulty stop is related to the servo parameters P04.52 and P04.53
and the motor running speed, see the parameter description for details, and the minimum value is 2ms.
64
P06.27=1/2 ﹙quick stop, remain free）
B
The timing of the "Holding brake release signal" during the faulty stop is related to the motor running speed, see the pa-
rameter description for details, and the minimum value is 2ms.
P06.27=3 ﹙DB stop, hold DB）
rameter description for details, and the minimum value is 6ms. The timing of the "servo ready" during the fault stop depends on
the speed of the motor and the minimum value is 6ms.
P06.27=4/5 ﹙quick stop, hold DB）
rameter description for details, and the minimum value is 2ms. The timing of the "servo ready" during the faulty stop depends
on the speed of the motor and the minimum value is 2ms.
◆ When alarms are cleared (instruction status of servo-enable is on)
◆ When STO is disabled (instruction status of servo-enable is on)
65
Chapter 3 Panel display and operation
3.1 Panel display and key description................................................................................................ 67
3.2 Display description........................................................................................................................... 68
3.3 JOG and parameter identification................................................................................................ 70

3.3.1 JOG operation and display ................................................................................................................................... 70
3.3.2 Key operation and display for parameter identification.............................................................................. 70

3.1 Panel display and key description
C
• Panel display and operation
MODE key: Generally, it is used to exit the panel display of a higher level and return to the panel display of a lower level; if
the current panel display is already zero level, press the MODE key to enter the panel display of the first level.
SET key: Generally, it is used to enter into the panel display of memory, or to confirm the parameter modification.
UP key: Multiply the corresponding authority value by step 1 to increment the numeric value.
DOWN key: Multiply step size 1 by the corresponding authority value to decrease the numeric value.
SHIFT key: Generally used to move the modified digit, for 32-digit number, long press SHIFT can flip the page to display
the high digit, and long press again can flip the page to display the sign digit. When the panel is at zero level, press the SHIFT
key to switch the display of monitored parameters.
67
3.2 Display description
After powering up, the panel will show , which indicates initialization is in progress. The contents of the level 0
panel are displayed thereafter.
◆ Level 0 panel display:

When a fault occurs:
The level-0 panel blinks to display the error or alarm code.
For example:
Alarm display: , warning display.
C
Press the SET button, and the panel will stop blinking. Press the MODE button to enter the Level-1 panel.

No fault: When all the settings after initialization are normal, the panel displays .
Level 0 panel can monitor up to 12 status parameters, with a maximum of 12 in case of faults or warnings, and a maximum
of 11 in normal conditions. When there is a fault or warning, the first one is the fault or warning, and the second one is the
operating status indicator. When normal, the first one is the running status flag, and the remaining 10 are set through P07:01
to P07_10. The set value can be any ordinal value within the P21 group except for 0. Setting it to 0 indicates that there are no
monitoring parameters at the corresponding position, and pressing the SHIFT key will directly skip it. If P07:01 is set to 1, mon-
itor P21-01 (actual operating speed). These monitoring parameters can be switched to display using the SHIFT key. If the mon-
itored parameter is 32-bit, such as P21_17 (feedback pulse counter), it can be displayed by long pressing the SHIFT key to turn
pages.
The displays are shown below:
If the parameters configured by P007:01 to P007_10 is displayed, then 2 1- x x will be shown, and the last two digits x x
are the set values for P07:01 to P07_10 such as .
During runtime, depending on the control mode, the displays can be divided into the following four types.
Indicates the running position mode
Indicates the running speed mode
Indicates the running torque mode

Displays parameter group No., e.g. P00, and the rightmost digit blinks to be modified. When
modifying other digits, press the SHIFT button. Press the SET key to enter the level 2 panel. Press the MODE key to return
to the level 0 panel.

The parameter No. is shown below:
Displays the parameter group number and offset within the group, Take for an example, after entering, the right-
most bit blinks to indicate that it can be modified, and if other bits need to be modified, shift them with the SHIFT key.
The second row displays the properties of the parameter in the following ways.
Press the SET button to enter the Level-3 panel display.
Press the MODE button to return to the Level-1 panel display.
68
◆ Level 3 panel display：
Take P01.00 as an example.
Displays the parameter value determined by the group number and offset, Take P01.00 for an example, the display shows
. The specific value is determined by the properties of each parameter value. If the parameter value can be modified,
the rightmost bit blinks after entering, and if other digits need to be modified, shift them with the SHIFT key. If it is a 32-bit pa-
rameter value, it can be displayed by long-pressing the SHIFT key to turn the page.
The display has the following types after pressing the SET key.
Indicates that the parameter has been successfully modified and requires re-powering up to take effect, and will
be displayed until the user presses the MODE key.
Indicates that the parameter has been successfully modified and takes effect immediately (about 4ms). After this
C
parameter displays about 1s, it returns to the Level-2 panel display automatically.

Indicates that the parameter has been modified successfully. This parameter becomes valid after the servo stops
or power restarts. After displaying for about 1s, it returns to the Level-2 panel display automatically.
Indicates the parameter is read-only and cannot be modified, it will automatically return to the 2-level panel dis-
play after about 1 second.
Indicates that the current parameter cannot be written due to a constraint on the value of a parameter. For ex-
ample, if the value of P00.02 is not 0, none of the parameters in group P01 can be written.
Press the MODE key to return to the level 2 panel.
69
3.3 JOG and parameter identification
3.3.1 JOG operation and display
（1）Before entering the JOG interface page

To access the JOG interface page, go to P20.00. The servo drive should be disabled at this time. First, press the key to lo-
cate P20.00, then press the SET key to enter the JOG page and display the setting value of the speed (value of P03.04). When
each parameter is a factory parameter, the display is as follows.
If the last digit is blinking, it means that it can be modified. Press SHIFT to move the blinking digit, and press UP
and DOWN to add or subtract the digit respectively.
C
（2）After entering the JOG page

After entering the JOG page, press the SET key again and the display will be as follows.
If the digit is no longer blinking, it means that it can no longer be modified, and the JOG process has been initi-
ated at this time.
Press and hold the UP key, the motor rotates positively with the displayed speed value. If the DOWN key is pressed and
held, the motor rotates in reverse with the displayed speed value. When the UP or DOWN key is no longer pressed, the motor
stops rotating, but it does not exit the JOG state, i.e., it is still in the speed mode of operation, but the instruction is zero.
Press the MODE key to exit the JOG process.
3.3.2 Key operation and display for parameter identification
（1）Before entering the identification page

Before identifying the inertia offline, please enter P20.00 and JOG to confirm the motor can run normally. The operation
interface of inertia and initial angle dentification is located in P20.03, at this time, the servo drive should be in the disable posi-
tion, press the key to find P20.03, the display will be as follows.
If the last digit is blinking, it means it can be modified. Changing to 1 means forward inertia identification will
be performed; changing to 2 means reverse inertia identification will be performed; changing to 5 means encoder initial angle
identification will be performed; changing to other values means undefined.
（2）After entering the identification page

After entering the identification page, if the parameter value displayed is changed to 1 or 2, and the SET keyis pressed, the
inertia identification will be activated and the display will be as follows.
Indicates the value of the current inertia value (P00.04).
After the identification is completed, press and hold the SET key (for more than two seconds) to store the newly identified
inertia value to the EEPROM. In fact, the newly identified inertia value is recorded to the P00.04, and then the P00.04 is stored
in the EEPROM.
After entering the identification page, if the parameter value displayed is 5 and then the SET key is pressed, the initial an-
gle identification of the encoder is activated and the value of the current electrical angle (P21.09) is displayed.
After the initial angle identification is completed, there is no need to store it, and long pressing of the SET key (holding
down the SET key for more than two seconds) has no effect. Press the MODE key to exit the identification process.
70
Chapter 4 Control function
4.1 Position control mode..................................................................................................................... 72
4.2 Speed control mode......................................................................................................................... 76
4.3 Torque control mode........................................................................................................................ 79
4.4 Motion control function.................................................................................................................. 81

4.4.1 Internal position instructions................................................................................................................................ 81
4.4.2 Interrupt positioning............................................................................................................................................... 84
4.4.3 Homing........................................................................................................................................................................ 87
4.5 Full closed-loop control.................................................................................................................. 90

4.1 Position control mode
◆ Overview
Position control is performed based on position instructions from the host device (e.g. pulse input) or servo internal posi-
tion instructions, and the basic functions during position control are explained below.
D
• Control function
Figure Basic function block diagram of position control function
◆ Function description
Position instruction processing section:
The Position instruction processing section determines the source of the instruction and counts the instruction to give the
unit of instruction required for the current control in real time. There are three sources of position instructions (P00.05):
0 - pulse instruction;
1 - step value setting;
2 - internal position instruction.
Among these, pulse instructions are further divided into six patterns (P00.07):
0 - Direction + Pulse, positive logic. (default);
1 - Direction + Pulse, negative logic;
2 - Phase A (pulse) + Phase B (sign), quadrature pulse, 4 times frequency, positive logic;
3 - Phase A + Phase B, quadrature pulse, 4 times frequency, negative logic;
4 - CW+ CCW, positive logic;
5 - CW+ CCW, negative logic.
Users need to set P00.05 and P00.07 or P00.27 according to the actual instruction pattern of the host device and deter-
mine whether the wiring is differential input or open collector (OC) input according to the signal method of the host device.
When the instruction source is a step value, set the step value in P00.26. The drive will have the interpolation at a very low
speed to complete the specified position distance, which can be used for manual adjustment.
When the instruction source is internal position control, set the 16 positions, speeds, and acceleration/deceleration times.
The drive will have linear interpolation based on the set parameters to complete the specified position distance.
72
Relevant parameters:
0: Pulse instruction
1: Step value setting
P00 05 Position instruction source
2: Internal position instruction
3: High-speed pulse instruction
P00 07 Pulse train form 0: Direction + Pulse, positive logic. (default)
1: Direction + Pulse, negative logic
2: Phase A (pulse) + Phase B (sign), quadrature pulse, 4x frequency,
positive logic
P00 27 High-speed pulse train pattern 3: Phase A + Phase B, quadrature pulse, 4x frequency, negative
logic
4: CW+CCW, positive logic
5: CW+CCW, negative logic
P00 26 Step value setting -9999 ～ 9999 instruction unit
For the internal 16-segment position function, please refer to P08 parameters.
D
◆ Electronic gear:
The main function of the electronic gear is to multiply the input position instruction from the host device by a certain frac-
tional ratio to get the position control instruction based on the minimum resolution of the encoder required by the servo inter-
nal position controller.
When P00.08 is not 0, position control instruction = encoder resolution * input instruction / P00.08;
When P00.08 is 0, position control instruction = electronic gear ratio numerator * input instruction / electronic gear ratio
denominator.
The current electronic gear ratio is selected via the DI functions GEAR_SEL1 and GEAR_SEL2.
GEAR_SEL1 is not valid, GEAR_SEL2 is not valid → electronic gear ratio 1
GEAR_SEL1 is valid, GEAR_SEL2 is invalid → electronic gear ratio 2
GEAR_SEL1 is not valid, GEAR_SEL2 is valid → electronic gear ratio 3
GEAR_SEL1 is valid, GEAR_SEL2 is valid → electronic gear ratio 4
Required pulse instruction number per turn

P00 08 0 Unit/Turn ～ 2147483646 Unit/Turn
of motor rotation (32 bits)
P00 10 Electronic gear numerator 1 (32 bits) 1 ～ 2147483646
P00 12 Electronic gear denominator (32 bits) 1 ～ 2147483646
Although the numerator and denominator of the electronic gear ratio are set within a wide range, an electronic gear set-
ting error Err.048 will be reported when the ratio exceeds the range. Therefore, the electronic gear ratio must be set to meet the
following range.
Encoder resolution / 10000000 ≤ numerator / denominator ≤ encoder resolution / 2.5
Position instruction filtering

To smooth the instructions calculated by the electronic gears, the position instruction filters must be used. There are two
built-in position instruction filters: one is a low-pass smoothing filter (IIR) and FIR filter. The longer the filter time, the better the
filtering effect with the response delay being longer.
73
P02 00 Position instruction smoothing filter 0.0ms ～ 6553.5 ms
P02 01 Position instruction FIR filter 0.0ms ～ 128.0 ms
P02 19 Position instruction FIR filter 2 0.0ms ～ 128.0 ms
Pulse division output function

The pulse division output function can convert the rotary position of the motor into AB-phase orthogonal pulses and out-
put them to the host device. In addition, one Z-signal pulse can be output for each revolution of the motor. The pulse output
source, resolution, phase sequence logic, and Z-signal logic can be set by function codes.
Pulse number per turn of motor rotation 16PPR ～ 1073741824PPR (count the corresponding number of
P00 14
(32-bit) cables by incremental optical encoder)
0: CCW (motor rotation direction when pulse output OA is ahead of
P00 16 Pulse output positive direction definition OB)
D
1: CW
0: High level at the arrival of the Z pulse.
1: Low level at the arrival of the Z pulse.
P00 17 Pulse output OZ polarity
2: High-precision Z pulse, high level at the arrival of the Z pulse.
3: High-precision Z pulse, low level at the arrival of Z pulse
0: Encoder division output
1: Pulse instruction synchronization output
P00 18 Pulse output function selection
2: Pulse instruction interpolation output (gantry synchronization)
3: External encoder pulse synchronization output
Pulse deviation clearing function

This function is used to set the conditions under which the pulse deviation of the internal position controller can be
cleared to zero, thus preventing the position deviation from accumulating when it is not required.
0: Position deviation pulse is cleared when the servo is OFF and a

fault occurs.
1: Position deviation pulse is cleared only when a malfunction
P06 06 Position deviation clearing function occurs.
2: Clear position deviation only when servo is OFF, an error occurs,
and PERR_CLR is valid.
3: Cleared only by PERR_CLR
Input pulse inhibition setting

Use this function to disregard the pulse input signal when needed, and the counting of the position instruction input
counter will be forced to stop.
0: 0.5ms 2 times in a row

1: 0.5ms 3 times in a row
P06 42 Pulse inhibition input setting
2: 1ms 3 times in a row
3: 2ms 3 in a row
Positioning completion detection function
Positioning completion and positioning near are judged by detecting whether the position deviation is within the set
74
range, and digital signals COIN and NEAR are output in response.
P04 47 Positioning completion range 1P ～ 65535P

0: If the absolute value of the position deviation is less than the
positioning completion range (P04_47), the COIN signal is output;
positioning completion range (P04_47) and the position instruction
is 0, the COIN signal is output;
positioning completion range (P04_47) and the position instruction
is 0, the COIN signal is output and the hold time is P04_49;
P04 48 Positioning completion output setting positioning completion range (P04_47) and the filtered position
instruction is 0, the COIN signal is output;
D
4: If condition 0 and the zero speed signal are valid at the same
time, the COIN signal is output;
5: If condition 1 and zero speed signal are valid at the same time,
the COIN signal is output;
output COIN signal;
the COIN signal is output.
P04 49 Positioning completion holding time 1 ～ 65535ms
P04 50 Positioning near range 1P ～ 65535P
75
4.2 Speed control mode
◆ Overview
Speed control is performed based on speed instructions from the host device (e.g. analog input) or servo internal speed
instructions, and the basic functions during speed control are explained below.
D
Figure Basic function block diagram of speed control mode
◆ Function description
Speed instruction processing
The speed source is set by P03.00. When P03.00 is equal to 1, the analog input channel (default AI1) of the SPR is set by
P05.16~18, and the analog speed processing section converts the analog voltage given by the host device to A/D, and then
corresponds the converted digital result to the specific speed instruction value following the set correspondence. At the same
time, a digital filter can be set to prevent interference and eliminate noise.
When P03.00 is equal to 0, P03.03 is used to set the numerical value of speed instruction.
The 16-segment internal speed instruction value and acceleration/deceleration time are set in P03.31 ~ P03.51, and DI
function No. 6, 7, 8, and 9 need to be configured for multi-segment speed selection.
0: Digitally setting (P03-03)

1: SPR (default AI1)
2: SPR, multi-segment instruction 2~16 switching
P03 00 Speed instruction source 3: Multi-segment instruction 1~16 switching
4: Communication setting
5: SPR+ digital setting
6：Multi-segment instruction 1~16 switching + digital setting
P03 03 Speed instruction setting value -9000rpm ～ 9000rpm
P05 00 AI1 minimum input -10.00V ～ 10.00V

-100.0% ～ 100.0%
Setting value corresponding to the AI1 minimum
P05 01 Torque corresponds to the maximum system torque (100%
input
speed corresponds to the maximum system speed )
P05 02 AI1 maximum input -10.00V ～ 10.00V
Setting value corresponding to the AI1 maximum
P05 03 -100.0% ～ 100.0%
input
P05 04 AI1 zero-point fine tuning -500mV ～ 500mV
P05 05 AI1 dead band setting 0.0~20.0%
76
P05 06 AI1 input filtering time 0.0ms ～ 6553.5ms
P05 07 AI2 minimum input -10.00V ～ 10.00V

Setting value corresponding to the AI2 minimum
P05 08 -100.0% ～ 100.0%
input
P05 09 AI2 maximum input -10.00V ～ 10.00V
Setting value corresponding to the AI2 maximum
P05 10 -100.0% ～ 100.0%
input
P05 11 AI2 zero-point fine tuning -500mV ～ 500mV
P05 12 AI2 dead band setting 0.0~20.0%
P05 13 AI2 input filtering time 0.0ms ～ 6553.5ms
P05 14 AI setting 100% speed 0~9000rpm
P05 15 AI setting 100% torque 0~5.00 times rated motor torque

0: SPR, speed instruction
1: TQR, torque instruction
D
2: SPL, speed limit
P05 16 AI1 function selection
3: TLMTP, positive torque limit
4: TLMTN, negative torque limit
5: TFFD, analog input as torque feed forward
2: SPL, speed limit
P05 17 AI2 function selection
4: TLMTN, negative torque limit
5: TFFD, analog input as torque feed forward
Zero speed clamp (ZERO_SPD) function

By using the DI function ZERO_SPD, the speed instruction can be forced to 0. Setting parameter P03.19 determines wheth-
er it is necessary to switch to position control mode for locking.
0: Invalid
1: When ZERO_SPD is valid, the speed instruction is forced to
be 0
P03 19 Zero-speed clamp function 2: When ZERO_SPD is valid, the speed instruction is forced to
0.
When the actual motor speed is lower than P 03.2 0, switch
to position control and lock at the current position.
P03 20 Zero-speed clamp threshold value 0rpm ～ 1000rpm
Speed conformity（V_ CMP） detection function

The speed conformity V_CMP signal will be output when the speed instruction before acceleration/deceleration and motor
speed feedback is within the range specified by P04.44 with a 10 rpm lag in the actual detection.
P04 44 Speed conformity signal width 10rpm ～ 1000rpm
Speed arrival (V_ ARR) function
When the actual speed reaches above the specified speed value, the output speed reaches the V_ ARR signal with a 10
rpm lag in the actual detection.
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P04 45 Speed specified value arrival 10rpm ～ 9000rpm
Speed acceleration and deceleration function

There are two groups of acceleration/deceleration time. When an internal multi-stage speed instruction is used, select the
acceleration/deceleration time of Group 1 or Group 2. When the acceleration/deceleration time is set to 10ms, it indicates
the time of acceleration from 0rpm to 1000rpm or deceleration from 1000rpm to 0rpm is 10ms.
P03 14 Acceleration time 1 0ms ～ 65535ms/1000rpm
P03 15 Deceleration time 1 0ms ～ 65535ms/1000rpm
P03 16 Acceleration time 2 0ms ～ 65535ms/1000rpm
P03 17 Deceleration time 2 0ms ～ 65535ms/1000rpm
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4.3 Torque control mode
◆ Overview
Torque control is performed according to the given torque instruction (analog or internal torque setting), and a speed-lim-
iting function must be added to limit the speed of the motor to a certain range for practical applications.
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Figure Basic function block diagram of torque control
◆ Functional description
Torque instruction processing
The torque instruction source is set by P03.22. When P03.22 is equal to 1, the analog input channel of the TQR is first set
by P05.16~18, and the analog torque instruction processing section converts the analog voltage given by the host device to A/D,
and then corresponds the converted digital result to the specific torque instruction value following the set correspondence. At
the same time, a digital filter can be set to prevent interference and eliminate noise.
When P03.22 is equal to 0, the speed instruction digital set value is set by P03.25.
When P03.22 is equal to 2, the DI function CMD_SEL switches between digital and analog settings.
0- Digital setting (P0325)

1- TQR
P03 22 Torque instruction source 2- Digital setting, TQR switching (CMD_SEL)
3- Communication setting
4- TQR+ digital setting
P03 25 Torque instruction key set value -100.0% to 100.0% (based on rated motor torque)
In this case, the analog-related parameters are the same as in the case of speed control.
Speed limit under torque control

In the torque control mode, the speed control circuit is disconnected, so the speed must be limited to prevent accidents.
The speed limit function is to limit the motor rotation speed within a specified range. When the motor speed exceeds the speed
limit value, the actual torque instruction is no longer equal to the torque instruction, but is equal to the output of the speed
limit regulator. The speed limit value can be set by P03.27 and P03.28, or analog input SPL. The final speed limit must not ex-
ceed the maximum motor speed.
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0-Forward and reverse internal speed limits P03.27、28

P03 26 Speed limit source selection under torque control
1-SPL
P03 27 Internal positive speed limit 0rpm-9000rpm
P03 28 Internal negative speed limit 0rpm-9000rpm
The analog parameters are the same as for speed control.
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4.4 Motion control function
4.4.1 Internal position instructions
◆ Instructions for use

In the position control mode, the drive can be selected to give instructions internally in addition to the external pulse given
instructions, and users can conveniently set the total number of instructions, the running speed, the acceleration and decelera-
tion time.
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Figure Basic function diagram of internal position instruction
The internal position instruction, like the external pulse instruction, is subject to electronic gearing and position instruction
filters, can accept deviation clearing signals, and outputs a positioning completion signal after positioning is completed, and
can also be configured with pulse division output.
The internal position instructions are in user instruction unit, not encoder unit (the minimum resolution of the encoder)
within the drive, so the electronic gear ratio has to be set to be compatible. For example, if the number of pulses per revolution
of the motor encoder is Penc, and the user expects the motor to make one revolution when given Puser instruction units, then
the electronic gear ratio to be set is Puser/Penc.
The internal position instructions can be set up to 16 different instruction segments, each with a different speed and ac-
celeration/deceleration time. Sequential and random execution modes are available to execute certain segments of position
instructions sequentially or randomly. Relative or absolute instructions can be configured, i.e., whether each segment is an in-
crement relative to the current position or an absolute position relative to the zero point.
For the sequential execution mode, the starting segment number and the ending segment number can be set, so that it
can be executed sequentially from the starting segment until the ending segment; it is possible to choose between a single
operation and a cyclic operation. In a single operation, after the completion of the execution of the ending segment, no further
operation is carried out. In a cyclic operation, after the completion of the execution of the ending segment, the execution starts
again from the starting segment until the user terminates the operation. In addition, when executing sequentially, the waiting
time between segments can be set.
For the random execution mode, it is possible to select the segment to be executed by DI terminal input signals or by com-
munication settings. When selecting the segment number with the DI terminal, four DI interfaces at most need to be selected
and configured with DI functions 6, 7, 8, and 9, respectively, as shown in the table below.
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Segment No.
DI function 6 DI function 7 DI function 8 DI function 9
DI function
Internal position segment 1
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The shaded cells in the table indicate that the input signals of the corresponding DI terminals are valid, while the unshaded
cells indicate that the input signals are invalid.
◆ Refer to the following figure for the internal position instruction using procedure.
When using the internal position instruction, it is necessary to input the internal multi-segment position enable signal (DI
function 25) via DI after servo ON to give the position instruction.
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◆ Internal multi-segment position instruction execution flowchart:
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Figure Sequential execution of multiple segment positions Figure Random selection of execution of multiple segment positions
◆ Parameters
To use the internal position instruction, the following parameters need to be configured:
0: Single operation
1: Cyclic operation
2: DI terminal switching operation
P08 00 Multi-segment preset position execution method
3: Communication switching operation
4: Single continuous operation
5: Cyclic continuous operation
The value of P08.01 is not greater than the setting value of
P08.02. When P08.01 cannot be changed to a larger value,
P08 01 Starting segment number
first change P08.02 to the desired maximum value and then
modify P08.01.
P08 02 Ending segment number The value of P08.02 is not less than the set value of P08.01.
Dealing of residual segments after pausing and 0: Run the remaining segments
P08 03
restarting 1: Run from the starting segment again
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0: Relative position instruction
P08 04 Position instruction type
1: Absolute position instruction
0: ms
P08 05 Waiting time unit
1: s
P08 06 The first segment displacement (32-bit) Unit: user instruction unit
P08 08 The first segment maximum speed Unit: RPM
P08 09 The first segment acceleration/deceleration time Unit: millisecond
P08 10 Waiting time after the first segment completed Unit is determined by P08.05
P08.06 to P08.10 is the number of position instruction pulses, running speed, acceleration/deceleration time, and wait time
parameters after completion of the first segment, and the rest of the segments are similar as the first segment.
DI functions related to internal position instructions
DI function 25 Internal multi-segment position instruction enable signal must be configured.
DI function 6 Switching 16-segment instruction must be configured when P08.00 is configured as 2.
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DI function 7 DI functions 6, 7, 8, and 9 are composed of four binary digits, Bit0 to Bit3, respectively. When the DI function is valid, it
DI function 8 means the binary digit is 1, and when it is invalid, it means the binary digit is 0. Accordingly, the four binary digits, 0000
DI function 9 to 1111, correspond to the first to the sixteenth segments respectively.
4.4.2 Interrupt positioning
◆ Overview
Interrupt positioning is also a form of internal positional instruction that, in position control mode, can interrupt an exe-
cuting positional instruction (whether it is an external pulse instruction or the rest of the internal positional instructions) at any
point in time and go to a user-specified segment of positional instructions, as shown in the figure below.
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◆ nterrupt positioning execution process
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To use interrupt positioning, it is necessary to configure the following parameters and the DI interface, and if necessary,
configure two DO function outputs, which can be used to monitor the process of Interrupt positioning. The number of position
instructions and the acceleration/deceleration times for the interrupt positioning are configured using the 16th instruction pa-
rameter of the internal position instruction, see the following table for the specific parameter configuration.
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◆ Parameters for interrupt positioning configuration
Unit: User instruction unit, which is used to set the length of

P08 81 The 16th segment displacement (32-bit)
the interrupt positioning instruction
Unit: RPM, which is used to set the running speed during
P08 83 The 16th segment maximum speed
interrupt positioning.
Unit: ms, which is used to set the acceleration and
P08 84 The 16th segment acceleration/deceleration time
deceleration time during interrupt positioning.
0: Disable the function of interrupt execution;
1: Enable, interrupt at the rising edge of the DI signal,
and automatically release the interrupt lock state after
completion;
2: Enable, interrupt at the rising edge of DI signal, and release
the interrupt status by DI signal XINT_ULK (DI function 26)
P08 86 Position instruction interrupt execution setting
after completion;
3: Enable, interrupt at the falling edge of the DI signal, and
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release the interrupt status automatically after completion;
4: Enable, interrupt at the falling edge of DI signal, after
completion, interrupt by DI signal XINT_ULK (DI function 26).
XINT_ULK (DI function 26) to release the interrupt status.
◆ DI function related to internal position instruction
DI function 34 Trigger interrupt positioning, which must be configured
DI function 26 Release interrupt positioning, which must be configured if P08.86 is set to 2 or 4, and can be configured to any DI interface.
DI function 27 Disable the use of interrupt positioning at any time, optional, configurable to any DI interface
When output monitoring is valid, it indicates that interrupt positioning has been executed. It is optional, which indicates
DI function 15
that it can be configured to any DO interface
When output monitoring is valid, it indicates that interrupt positioning is being executed. It is optional, which indicates that
DI function 18
it can be configured to any DO interface
◆ Interrupt execution direction

（1）Set the second digit from the right of P07.16 to 0: follow the current running direction
Instruction increment for interrupt

Current running direction The direction of the running interrupt
positioning
Positive Negative Negative
Positive Positive Positive
Negative Positive Negative
Negative Negative Positive
（2）Set the second digit from the right of P07.16 to 1: determined by the sign of the instruction value
Instruction increment for interrupt

Current running direction The direction of the running interrupt
positioning
Positive Negative Negative
Positive Positive Positive
Negative Positive Positive
Negative Negative Negative
When the position instruction is 0, the direction of interrupt operation is the direction of the interrupt position instruction
increment.
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4.4.3 Homing

The servo drive is equipped with an internal homing function, which supports various ways for searching the origin in-
dependently, and can work together with the upper device to realize the homing function. If the limit position is the origin, as
shown in the figure below, the Z pulse signal can be searched according to actual need, and various ways of searching origin
can be realized.
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Please refer to the following figures for the situation involving the origin sensor. Several factors need to be considered:
the difference between positive and negative search at the start position, the use of rising edge or falling edge for the home
position sensor signal, the decision to use the Z-phase pulse signal, and determining the direction of the Z-phase pulse signal
search (finding the Z-phase pulse signal forward or backward after locating the home position sensor signal).
When using Z-phase pulses, different directions for finding Z-phase pulses will lead to different origin position. For details,
refer to the figure below.
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◆ Parameters
To use the homing function, set the following parameters and DIDO functions. Use P08.88 to configure the startup method
of homing, and use P08.89 to set the method of searching for the origin. During origin search, the limit position may be en-
countered. When encountering the limit position, choose the alarm stop or automatic direction searching, and use P08.90 to
configure the handling method of the limit position. Use P08.92 and P08.93 to set the high-speed search speed and low-speed
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search speed, and use P08.94 to set the acceleration and deceleration time during the search. In addition, since there is a time
limit on the origin search, use P08.95 to set the upper time limit. If the origin is not found beyond the set time, AL.96 will be re-
ported and the search will be stopped.
Homing-related parameters
0: OFF
1: Start by STHOME via DI function
P08 88 Homing start method 2: Start by operation panel
3: Start by communication
4: Immediate start after the first servo ON
0: Forward rotation to search for the origin, with the positive limit as
the origin
1: Reverse rotation to search for the origin, with the negative limit as
the origin
2: Forward rotation to search for the origin, with the HOME_IN signal
OFF → ON as the origin
3: Reverse rotation to search for the origin, with the HOME_IN signal
OFF → ON as the origin
P08 89 Homing mode 4：Forward rotation to search for the origin, with the HOME_IN signal
ON → OFF as the origin
5：Reverse rotation to search for the origin, with the HOME_IN signal
ON → OFF as the origin
6：Forward rotation to directly search for the nearest Z signal as the
origin
7：Reverse rotation to directly search for the nearest Z signal as the
origin
8：Directly use the current position as the origin
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0: Reverse to find Z-phase signal after encountering limit switch;
1: Forward to find Z-phase signal after encountering limit switch;
2: Not to find Z-phase signal after encountering limit switch;
3: Stop and output alarm after encountering limit switch, reverse to
find Z -phase
signal
4: Stop and output alarm after encountering limit switch, forward to
find Z-phase
Limit switch and Z-phase
P08 90 signal
signal setting during homing
5: Stop and output alarm after encountering limit switch, not to find
Z-phase signal
Note: For encountering limit switch, if the homing mode is set to 0 to
1, no alarm or stop even though this parameter is set to 3, 4 or 5.
If the homing mode i s set to 0 to 1 , find Z -phase signal after
encountering limit switch;
If homing mode is set to 2 to 5, find Z-phase signal after
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encountering HOME_IN signal.
P08 92 Origin search high speed Start with this speed when homing is enabled
Switch to low speed after encountering origin point or deceleration
P08 93 Origin search low speed
point
Acceleration/deceleration time at origin Set the acceleration/deceleration time at the start/ stop of origin
P08 94
search search. Unit: ms.
Limit the longest time of homing. If origin point is still not found after
P08 95 Homing time limit
the time set in P08.95, AL.96 occurs and operation stops.
The absolute position counter will be cleared after finding the
P08 96 Origin offset (32-bit) origin point or set the absolute position counter to the value of this
parameter.
System can move further in the distance set in this parameter after
P08 98 Mechanical origin offset (32-bit)
origin point is found.
Related DI DO function during homing
DI function 29 Homing start, must be set and can be configured to any DI terminal.
DI function 28 Origin signal, when P08.89= 2, 3, 4, 5, must be set and can be configured to any DI terminal.
DI function 33 Deceleration point sensor signal, optional, but it is not necessary in most occasions.
DO function 17 Homing completion signal and can be configured to any DO terminal.
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4.5 Full closed-loop control
X5 series drive, X5FA (X5 pulse full-function type) model has a second encoder interface and supports full closed-loop
control mode, so please check the drive model before use. Full closed-loop control is a mode of control that involves detecting
the position of the controlled object using a position detector, such as a grating, and then providing position information back
to the servo for control. A full closed-loop control system is capable of disregarding errors generated by the transmission sys-
tem and directly controlling the object with precision.
◆ Wiring diagram
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1. Correct wiring
After making sure that the wiring is correct according to the above wiring diagram, proceed to connect the power supply
and turn it on to verify that the drive is not enabled. Refer to section 2.1 "System wiring diagram" in this manual for specific de-
tails regarding the drive power supply cable specifications.
2. JOG
With the full closed loop function is enabled, mount the motor on the device and perform JOG to check if the device can
operate normally. If it does not run normally or other problems occur, please solve all the problems until it can be JOG normally,
then proceed to the next step.
3. Set parameters for fully closed loop mode

Before the fully closed-loop mode is enabled, there are some relevant parameters to be set, mainly P17.01 (external sensor
pitch), P17.03 (fully closed-loop mixed deviation threshold), P17.05 (mixed deviation count setting).
(1) 17.01 External sensor pitch

The value of P17.01 (external encoder pitch) is set to the number of pulses fed back from the grating for one revolution of
the motor. There are two ways to set the pitch:
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① By calculating:
External sensor pitch 1 = Lead / grating resolution
Lead: If a screw is used, the lead is equal to one pitch.
Grating resolution: Available from the grating instruction manual, or from the engineer who purchased the external sensor.
External sensor reception method
If AB orthogonal reception is used:
External sensor pitch 2 = External sensor pitch 1 X 4
Reduction gear between motor and grating
External sensor pitch 3 = External sensor pitch 2 / Reduction ratio
② Disconnecting the grating closed loop test: (recommended)
Check and connect the grating;
View the P17.13 parameter value when enabled and record the parameter value;
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Run the motor for one revolution by other means such as internal position or pulse control;
Subtract the current parameter value from the recorded parameter value to get the number of pulses traveled during the
running process, and repeat steps 2) 3) several times to avoid errors; Set the external sensor pitch according to the number of
pulses traveled;
According to the positive and negative direction of the number of pulses traveled, set the way of using the external sensor;
③ Manual test
In case the parameters of the machine are not clear, follow the steps below to set up:
First, check the P17.13 parameter value and record the parameter value;
Check the P17.13 parameter value by manually rotating the motor in the forward direction for one revolution.
Subtract the current parameter value from the recorded parameter value to get the number of pulses traveled during the
running process. Repeat steps 2) and 3) several times to avoid errors. Set the external sensor pitch according to the number of
pulses traveled.
Set the external sensor use mode according to the positive or negative direction of the number of pulses traveled.
(2) P17.03 Fully closed loop mixed deviation excessive threshold value
To ensure safety, before turning on the full closed-loop mode, please set a reasonable full closed-loop mixed deviation
oversize threshold (P17.03), if the value of P17.09 is greater than the value of P17.03, the system will report Err.069.
(3) P17.05 Mixed deviation count setting

Set the proper mixed deviation count value (P17.05). The mixed deviation will be cleared to zero after a set number of mo-
tor revolutions.
(4) Enable full closed-loop mode

Before enabling full closed loop mode, manually or by JOG, rotate the motor in the forward direction to see if the value of
P17.13 ( external sensor counter) increases or decreases. If the value of P17.13 increases, set P17.00 to 1 to enable full closed
loop mode. If the value of P17.13 decreases, set P17.00 to 2 to enable full closed loop mode.
0: No external sensor is used for position feedback

1: The external sensor is used as position feedback, and the external
P17 00 External encoder usage encoder count is increased when the motor direction is CCW.
2: The external sensor is used as position feedback and the external
encoder counter increased when the motor direction is CCW.
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◆ Functions related to full closed-loop control
1、Pulse output function
Set P00.18 ( pulse output function selection ) to select either motor encoder division frequency output or external encoder
pulse synchronous output, depending on the customer's requirements. For details, see "Pulse division output" in the section 5.4
of this manual.
21 OUTA+ Pulse output A
22 OUTA- Pulse output /A
25 OUTB+ Pulse output B
23 OUTB- Pulse output /B
2、Absolute value system

To remember the current position after a power off, please enable the absolute value system of the servo, further details
are given in the section "5.3 Absolute system", and use the value of P21.07 as the feedback.
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◆ Precautions
Please confirm the drive model before use. Full closed-loop control mode is only supported by the full-function model.
Do not enable the servo before setting the parameters according to the above steps. If the parameters do not match, en-
abling the servo will cause excessive mixed deviation or tripping.
The scale full closed loop interface is currently only suitable for general-purpose scale signals and can only receive AB
quadrature pulses.
If P06.49 (high-speed pulse input filtering) is not set correctly, it may cause the servo to receive an abnormal number of
scale pulses, resulting in servo running position deviation. The value of P06.49 is related to the frequency of the scale input
pulses, and the specific settings are as follows:
Scale input pulse frequency (Hz) = ( Pitch X maximum speed ) ÷ 60
For example:
The pitch is 20000, maximum speed is 1300rpm.
The scale input pulse frequency is (20000 X 1300) ÷ 60 = 433333Hz.
According to the parameter description, the recommended filter is 20 when the input frequency is 433KHz, so P06.49 is set
to 20.
When using the host device to observe the waveform, the display curve changes as follows:
m Test 1: External speed feedback
m Test 2: External position feedback
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◆ Relation diagram of 17-bit encoder motor parameters
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◆ Configuration parameters related to full closed-loop control
0- Encoder division output

Pulse output function 1- Synchronized output of pulse instruction
P00 18
selection 2- Pulse instruction interpolation output (gantry synchronization)
3- External encoder pulse synchronization output
0 ～ 100 (unit: 10ns)
250KHZ or less, recommended value: 40;
250K ～ 500K, recommended value: 20;
P06 49 High-speed pulse input filtering
500K ～ 1M, recommended value: 10;
1M or more; recommended value: 5;
2M or more; set to 0.
0- Use no external sensor for position feedback
1- Use external sensor for position feedback, motor encoder count
(P21.34) increases, external sensor count (P17.13) increases
P17 00 External sensor usage
2- Using an external sensor for position feedback increases the
motor encoder count (P21.34) and the external sensor count (P17.13)
decreases.
Sets the number of feedback pulses from the external sensor for one
P17 01 External sensor pitch
revolution of the motor: 0 ～ 1073741824
If the full closed-loop mixed deviation exceeds this setting, the system
Full closed loop mixed deviation
P17 03 reports a mixed excessive deviation fault; when set to 0, it does not turn
threshold (32-bit)
on; 0~1073741824
P17 05 Mixed deviation count setting 0 ～ 100%
Full closed loop speed feedback 0- Closed loop feedback using internal speed
P17 08
setting 1- Closed loop feedback using external speed
External units for full closed loop Difference between external sensor pulse count and internal encoder
P17 09
mixed deviation count
External units for internal encoder
P17 11 Internal encoder count, converted to external pulse unit display
count value
External sensor pulse input count, indicating external position
P17 13 External sensor count value
information
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Chapter 5 Application function
5.1 Stop protection function................................................................................................................ 95

5.1.1 Instantaneous power failure protection............................................................................................................ 95
5.1.2 Fault stop protection.............................................................................................................................................. 95
5.1.3 Over-travel stop protection.................................................................................................................................. 96
5.1.4 Stop protection deceleration time...................................................................................................................... 96
5.2 Soft limit function............................................................................................................................. 96
5.3 Absolute system................................................................................................................................ 97
5.4 Pulse output function...................................................................................................................... 98

5.4.1 Pulse division output............................................................................................................................................... 98
5.4.2 Z-phase signal output...........................................................................................................................................100
5.4.3 Pulse synchronization output function............................................................................................................100
5.5 MODBUS communication.............................................................................................................101

5.5.1 Read/write parameter by communication.............................................................................................................. 101
5.5.2 Read/write command by communication.............................................................................................................. 101
5.5.3 Control DI functions by communication................................................................................................................. 103
5.5.4 Read DO function by communication..................................................................................................................... 104
5.5.5 Read encoder absolute position............................................................................................................................... 105

5.1 Stop protection function
The stop protection functions include instantaneous power failure protection, fault stop protection, and over-travel stop
protection, which are not enabled by default. Users can turn on the corresponding protection function according to actual de-
mands.
5.1.1 Instantaneous power failure protection

When the machine is in normal operation, if a sudden power failure occurs in the factory, after the power failure protec-
tion function is turned on, the servo can use the residual internal power to stop the motor quickly, so that the motor does not
coast to stop and result in mechanism damages. Parameters related to the instantaneous power failure protection function are
P06.24 and P06.25
Instantaneous power failure Range Default Unit Effective Relevant mode

P06.24
protection 0～2 0 -- 立即生效 P S T
By enabling this protection function, the previous status before the main power failure can be restored immediately if an
instantaneous restoration of power is conducted.
0: Not enabled (In case of the third type of fault, the motor will be stopped according to the setting of P06.27)
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1: Enabled (In case of instantaneous power failure, the quick stop will be carried out according to the time set in P06.25)
• Application function
Instantaneous power failure Range Default Unit Effective Relevant mode
P06.25
deceleration time 0 ～ 10000 20 1ms Immediate P S T
After the instantaneous power failure protection is enabled, when the main power supply suddenly loses power, the stop
deceleration time is set by this parameter. The range is 0ms to 10000ms/1000rpm, this parameter can be set according to users’
actual needs, and it is generally recommended to set this parameter within 30.
5.1.2 Fault stop protection

When the drive is running normally, if a fault occurs suddenly, after setting the fault stop mode, the servo motor can be
stopped quickly, so that the motor does not coast to stop and result in mechanism damages.
Selection of the second type of Range Default Unit Effective Relevant mode
P06.27
fault stop method 0～5 4 -- Restart P S T
0: Coast to stop, and remain free. After the second type of fault occurs, the motor current will be switched off and the mo-
tor will coast to stop.
1: Zero-speed stop, and remain free. After the second type of fault occurs, the motor current will keep outputting for a
certain period until the motor stops completely, after which the motor remains free.
2: Stop by emergency stop torque, and remain free. After the second type of fault occurs, the motor will be stopped imme-
diately with the torque set in parameter P06.32. After the stop, the motor remains free.
3: DB stop, and hold DB. After the second type of fault occurs, the motor will conduct a DB stop and continue to hold the
DB after the stop is completed.
4: Zero-speed stop, and hold DB. After the second type of fault occurs, the motor current will keep outputting for a certain
period until the motor stops completely, after which the motor remains in the DB status.
5: Stop by emergency stop torque, and hold DB. After the second type of fault occurs, the motor will be stopped immedi-
ately with the torque set in parameter P06.32. After the stop, the motor remains in a DB status.
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Range Default Unit Effective Relevant mode
P06.32 Stop by emergency stop torque
0 ～ 5000 1000 0.1% Immediate P S T
0.0% to 300.0% (based on rated motor torque)
5.1.3 Over-travel stop protection

The overtravel stop mode is used to meet the stopping needs of different situations. If a quick stop is required, it can be
set to a zero-speed stop or stop by emergency stop torque.

P06.28 Overtravel input setting
0～1 1 -- Restart P S T
0: DI function 14 (P_OT) positive drive is disabled, and DI function 15 (N_OT) negative drive is disabled.
1: Invalid

P06.29 Over-travel stop mode selection
0: Coast to stop, and remain zero-speed. (motor shaft is locked when over-travel is valid)
1: Zero-speed stop, and remain zero-speed. ( motor shaft is locked when over-travel is valid)
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2: Stop by emergency stop torque, and remain free. (positive over-travel is valid, positive direction is locked, negative di-
rection remains free; negative over-travel is valid, negative direction is locked; positive direction remains free)
5.1.4 Stop protection deceleration time

When the fault stop mode is coast to stop, no deceleration process is planned.
When the overtravel stop mode is zero-speed stop or stop by emergency stop torque, the instruction deceleration time is
controlled by P07.14.
When in position mode with external pulse instructions, the fault stop mode is zero-speed or stop by emergency stop
torque, and the stop time is controlled by P07.14.
When in position mode with internal position instructions, the fault stop mode is zero-speed or stop by emergency stop
When in position mode with internal position interrupt, the fault stop mode is zero-speed or stop by emergency stop
When in speed and torque modes, the fault stop mode is zero-speed or stop by emergency stop torque, and the stop time
is controlled by P03.15.
5.2 Soft limit function

The soft limit function is designed to meet the needs of different situations. After enabling the soft limit function, when the
motor runs beyond the set range, the drive will report the overtravel warning, the motor will stop running, so that it can play a
protective role.
Related parameters : P06.28, P06.29, P07.08, P07.24, P07.26
◆ Parameter setting method

Set P06.28 to 0 to enable over-travel setting. Select over-travel stop mode in P06.29.
The soft limit function is activated by setting P07.08 at the fourth digit from the right:
96
P07.08 = "Hx 0000", soft limit is not enabled.
P07.08 = "Hx 1000", soft limit detection is enabled immediately after power-on.
P07.08 = "Hx 2000", soft limit detection is enabled after the homing is completed.
P07.24 sets the value of the positive soft limit. P07.26 sets the value of the negative soft limit.
Positive soft limit Range Default Unit Effective Relevant mode

P07.24
（32-bit） -2147483648 ～ 2147483647 2147483647 -- Restart P S T
The positive soft limit is effective in position control, speed control, and torque control modes.
Negative soft Range Default Unit Effective Relevant mode

P07.26
limit（32-bits） -2147483648 ～ 2147483647 -2147483648 -- Restart P S T
The negative soft limit is , effective in position control, speed control and torque control modes.
If the value of P21.07 (absolute position counter) exceeds the range set in P07.26 to P07.24 during motor operation, an
over-travel warning is reported and the motor is stopped for protection.
5.3 Absolute system
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◆ Introduction
The absolute system, if it is enabled normally after the drive main power supply and control power supply is cut off, the
motor encoder value will not be cleared and will continue to be powered by the external battery, with the encoder absolute
position data remaining unchanged. After re-powering on, the drive can get the motor's absolute position information from the
encoder and display it in parameters P21.32 (number of absolute position encoder turns) and P21.34 (absolute position encod-
er single-turn position).
◆ Relevant parameters

P06.47 Absolute system setting
0 ～ 19 0 -- Restart P S T
0 ～ 19
Ones place:
0: Incremental system;
1: Absolute system(Err.12 needs manual clearing, set P20.06 to 7);
2: Absolute system (Err.12 needs manual clearing, set P20.06 to 7);
3~9: Absolute system with overflow error.
Tens place:
0: Battery undervoltage warning and keep running;
1: Battery undervoltage warning and stop.
The incremental or absolute mode can be set in the ones place of this parameter, and whether AL.097 or Err.015 is report-
ed in the event of the encoder battery undervoltage can be set in the tens place.
◆ Instruction for use

When using the absolute value system, P06.47 needs to be set to 1 or 2 to enable the absolute value system.
When the absolute system is enabled for the first time and the power is restored, Err.012 (abnormal number of absolute
encoder turn) is reported, which is a warning for the initialization of the encoder. If P06.47 is set to 1, the fault is reset with DI or
is cleared by P20.01, and the "ok rdy" state can be entered by re-powering up after the fault is cleared.
97
If P06.47 is set to 2, it is necessary to set parameter P20.06 to "7" one time to initialize the encoder, and then reset with DI
or clear the fault with P20.01 or re-power on the encoder, then the encoder can enter the "ok rdy" state.
If the servo still reports fault No. 12 when the power is restored after performing the above operations, please check as fol-
lows:
① Check whether there is any abnormality in the encoder wiring, if so, please rewire it.
② Check whether the battery is normal, if the voltage is insufficient, please replace the battery.
③ Detect whether there are 6 encoder cables, if not, then this encoder cable is incremental and cannot remember the ab-
solute position, please replace the cable.
5.4 Pulse output function

The drive has three main pulse outputs, A, B and Z. See the table below for details:
Signal name Output pin No. Name Note

OUT_A CN6-21 Encoder division pulse output
OUT_/A CN6-22 A-phase As the motor rotates, the A-phase
OUT_B CN6-25 and B-phase pulses are output
Encoder division pulse output
outward with a 90° phase differ-
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OUT_/B CN6-23 B-phase
ence.
OUT_Z CN6-13 Encoder division pulse output The motor rotates one revolution
OUT_/Z CN6-24 Z-phase and outputs a pulse.
5.4.1 Pulse division output

The parameters related to the pulse division output are P00.14 (output pulse number per turn of motor rotation (32-bit))
and P00.16（pulse output positive direction definition）. The details of the parameters are shown as follow.
（1）The number of division frequency output pulse is set by P00.14.
Pulse number per turn of Range Default Unit Effective Relevant mode
P00.14
motor rotation (32-bit) 16 ～ 1073741824 2500 1PPR Restart P
Set the number of OUTA or OUTB pulses output per turn of the motor.
16PPR ～ 1073741824PPR（calculation of the corresponding number of cables by incremental optical encoder）
Example:
When P00.14 = 16, the motor rotates one turn and 16 pulses are output from phase A and phase B respectively, as shown
below.
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（2）The positive direction of division frequency output pulse is set by P00.14.
Pulse output positive direction Range Default Unit Effective Relevant mode
P00.16
definition 0～1 0 -- Restart P S T
Set the phase sequence logic for the pulse output function.
0：CCW（Pulse output OUTA is ahead of OUTB when the motor rotation direction is CCW.）
1：CW（Pulse output OUTA is ahead of OUTB when the motor rotation direction is CW.）
When P00.16 = 0, the A/B pulse output phase relation is as follows:
E
When P00.16 = 1, the A/B pulse output phase relation is as follows:
99
5.4.2 Z-phase signal output
Generally, the Z-phase output pulse is shown below:
P00.17 can set whether the Z-phase pulse is high or low when it arrives, the default is high.
P04.57 can set the width of the Z-phase pulse when it arrives, the default is 0, and the width is the same as that of A.
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5.4.3 Pulse synchronization output function
Set P00.18 to 1 to achieve the function of synchronizing the pulses of multiple drives, in which the outputs of drives A and
B are in line with the input pulses (no need to enable).
100
5.5 MODBUS communication
The following describes the wiring method between drives Communication condition
and the setting method for the communication address of each Electrical specifications EIA485
drive. Asynchronous serial

Communication mode
communication (half duplex)
With multi-station communication, the host device, when
Communication speed 2.4 kbps ～ 115.2 kbps
is only wired to one servo drive, can change the parameters of
Data bit 8 bit
multiple servo drives and observe the waveforms of position
Check bit 0 bit ～ 1 bit
deviation, rotation speed, etc.
Stop bit 1 bit ～ 2 bit
The communication conditions are shown in the table to the
Alarm detection CRC16-CCITT
right:
Data transfer 8 bit binary coding
Data communication length Less than 35 bytes
5.5.1 Read/write parameter by communication

The following numbers have "H" added at the end to indicate hexadecimal numbers.
Communication parameter address: 8 bits to the left of the group number + in-group offset.
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For example, if the value of P08.11 is calculated according to the rule, the address is 080BH.
Without encryption, all parameters are readable and writable.
Certain parameters are not rewritable while the drive is running, in which case communication returns an error when the
rewrite instruction is entered.
The 32-bit function code must read and write the high and low 16 bits at one time, and cannot read and write only the
high or low 16 bits, i.e., it can only read 32 bits with 03H instruction and write 32 bits with 10H instruction.
The user password parameter only supports writing, when reading, it always returns 0, and when the password parameter
uses communication input, i.e., when it is input with 06H or 10H instruction, it does not change the value of the password itself,
but only inputs the password, and the password can only be changed with the keyboard operation.
When the communication writes a parameter, it usually only rewrites the value in the memory and does not write it to the
EEPROM. If the rewritten parameter needs to be written to the EEPROM (it can be recovered after power loss), the correspond-
ing address value of the parameter will be summed up with the E000H as the address of the parameter, and then it will be
written again. For example, to rewrite the value of P08.11, the address is 080BH, and if it needs to be stored in EEPROM after
rewriting, the address will be 080BH + E000H = E80BH.
5.5.2 Read/write command by communication
1. Command for communication to read one or more consecutive 16-bit registers 03H
The format of the request frame for the 03H command is shown in the following table (all data in the table are hexadeci-
mal numbers):
Modbus Start address of Start address of Register Register

Slave address CRC (L) CRC (H)
instruction registers read (H) registers read (L) quantity (H) quantity (L)
01 03 12 00 00 01 81 72
2. Command for communication to write a 16-bit register 06H

The format of the request frame for the 06H command is shown in the following table (all data in the table are hexadeci-
mal numbers):
101
Modbus Start address of Start address of Data value Data value written
instruction registers written (H) registers written (L) written (H) (L)
01 06 08 01 00 02 5B AB
The request frame and response frame of the 06H command are identical.
3. Command for communication to write multiple consecutive 16-bit registers 10H

The request frame format for the 10H command is shown in the following table (all data in the table are hexadecimal num-
bers):
01 Slave address
10 Modbus instruction
08 Start address of registers written (H)
0B Start address of registers written (L)
00 Register quantity (H)
05 Register quantity (L)
0A Total bytes of data written
4E The first written value (H)
20 The first written value (L)
00 The second written value (H)
E
00 The second written value (L)
04 The third written value (H)
B0 The third written value (L)
00 The fourth written value (H)
64 The fourth written value (L)
00 The fifth written value (H)
14 The fifth written value (L)
F8 CRC (L)
5B CRC (H)
The format of the response frame for the 10H command is shown in the table below (all data in the table are hexadecimal
numbers):

instruction registers written (H) registers written (L) quantity (H) quantity (L)
01 10 08 0B 00 05 73 A8
4. Error response frame

The format of the error response frames for the 03H, 06H, and 10H commands is shown in the table below (all data in the
table are hexadecimal numbers):
03H/06H/10H
Slave address Error code CRC (L) CRC (H)
Command error response
01 83/86/90 xx CRCL CRCH
The meaning of the error code is as follows: 01, command error; 03, invalid parameter; 04, CRC check error.
For responding to an invalid parameter, the number of registers is 0 for the 0x03 command, or twice the number of regis-
ters is not equal to the total number of bytes written for the 0x10 command, and a maximum of 125 is allowed when reading
or writing multiple registers. In addition, if the error code 03 (i.e., invalid parameter) is returned, refer to the value of P21.61, and
the meaning is as follows.
16: The total number of parameters in the parameter group is exceeded, or the parameter group number is not defined.
17: The number of parameters to be read is zero.
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18: The 32-bit function parameter must read the upper and lower 16 bits at one time, and it is not allowed to read only the
lower 16 bits or the upper 16 bits.
19: The parameter written exceeds the upper and lower limits.
20: The user password has not been entered or has become invalid.
22: Read-only parameters and reserved parameters are not allowed to be rewritten, parameters that can only be rewritten
at stop cannot be rewritten at runtime, or the parameters cannot be modified because they are constrained by the value of an-
other parameter.
24: Password parameters can only be written individually and cannot be mixed with other parameters.
25: Input user password error.
26: Input user password error for 5 consecutive times.
5.5.3 Control DI functions by communication
1. Control DI functions by communication

In addition to the physical DI interfaces described in the previous section, X5 Series drives can use communications to di-
rectly control all of the DI functions described in the DI function table. To control DI functions using communications, there are
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three steps:
Step 1: Check if the DI interface configuration interface parameter of X5 series is configured with the DI function controlled
by communication, and if so, it should be canceled.
Step 2: Enable the DI function controlled by communication.
Step 3: Send the DI function status to the specified address by communication.
Configure the interface parameters for the DI interface of the X5 series:
Parameter No. Description Parameter value

P04.01 DI1 terminal function selection The value 1 to 46 listed in the DI function definition table
Enable setting interface for the communication control DI function:

Each binary bit of this parameter represents a DI function.
BIT 0 is reserved. BI T1 ～ BI T15 corresponds to DI 1 ～ 15 in the DI
function definition table respectively.
P09.05 Communication control DI enabling setting 1 The value of the binary bit indicates whether the corresponding DI
function of communication control is enabled:
0: Disable 1: Enable
(Same definition for the following three parameters.)
BIT0 ～ BIT15 corresponds to DI 1 6 ～ 31 in the DI function definition
P09.06 Communication control DI enabling setting 2
table
103
BIT0 ～ BIT15 corresponds to DI 32 ～ 47 in the DI function definition
table respectively (Note 1).
Parameter No. Description Parameter configuration value description

Each binary bit of this parameter represents a DI function.
BIT 0 is reserved. BIT1 ～ BIT15 corresponds to DI 1 ～ 15 in the DI
function definition table respectively.
3607H Communication writing DI function status 1 The value of the binary bit indicates whether the corresponding DI
function is enabled:
0: Disable 1: Enable
3608H Communication writing DI function status 2
table
3609H Communication writing DI function status 3
360AH Communication writing DI function status 4
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Note 1: DI functions 38 to 47 are reserved.
Note 2: DI functions 48 to 63 are reserved.
2. Example of control DI functions by communication
Example 1: P04.01 has been configured with DI function 1 (servo ON), and is now ready to control DI function 1 by com-
munication.
The configuration to be modified is as follows:
Step 1: Change the value of P04.01 to 0 and set the value of P09.05 to 2H.
The binary BIT1 bit of parameter P09.05 is set to 1 to enable the DI function 1, so here P09.05 is set to 2H (hexadecimal
number).
Step 2: Write 2H to address 3607H by communication to make the corresponding DI function effective, and write 0H to
make it ineffective. It is required to write continuously with an interval time of no more than 5 seconds (factory setting, interval
time can be changed, see parameter P09.11).
The BIT1 of the written value at address 3607H corresponds to DI function 1, and 2H is written to make DI function 1 ef-
fective, and 0H is written to make it ineffective.
Note: If the value of P09.05 is set to 2H without changing the value of P04.01 to 0, the Err.27 (DI assignment duplication
error) will be reported; if there is no consecutive writing, or if the time interval exceeds the value set in P09.11, the communica-
tion is considered disconnected, and the corresponding DI function will be invalidated.
5.5.4 Read DO function by communication
1. Read DO function status by communication

Similar to the communication write DI function, the communication output DO function needs to be enabled first, and the
corresponding parameters are P09.09 and P09.10. The read addresses are 3688H and 3689H.
104
The enable setting interface of the communication D0 function:

Each binary bit of this parameter represents a DO function.
BIT0 is reserved.
BIT1 ～ BIT15 corresponds to DO functions 1 ~ 15.
P09.09 Communication reading DO enable setting 1 The value of the binary bit indicates whether the corresponding DO
0: Invalid
1: Valid
BIT1 ～ BIT15 corresponds to DO functions 16 ~ 31.
The value of the binary bit indicates whether the corresponding DO
P09.10 Communication reading DO enable setting 2
0: Invalid
1: Valid
List of addresses for communication reading DO function status:

E
BIT0 is reserved.
BIT1 ～ BIT15 corresponds to DO functions 1 ~15.
The value of the binary bit indicates whether the corresponding DO
3688H
Communication reading DO function status 1 function of communication control is enabled:
0: Invalid
1: Valid
3689H Communication reading of DO function status 2
table respectively.
2. Example of read DO function by communication

Read DO function 6 by communication (speed conformity)
Step 1: Check parameter P04.21 to P04.29, if any parameter is set to 6, it is necessary to set the value of that parameter to
0 first, and then set BIT6 of parameter P09.09 to 1 to enable DO function 6, so P09.09 should be set to 40H (hexadecimal num-
ber, corresponding to the binary number 1000000B).
Step 2: Read the status value of DO function from the communication address 3688H. The binary bit BIT6 read indicates
the status value of DO function 6.
5.5.5 Read encoder absolute position
◆ Read encoder absolute position

（1) Requests the value of the encoder lap register, address is P21.32 and the data is signed 32 bits.
The request frame format is as follows.

01 03 15 20 00 02 C1 CD
The format of the response frame for the command is shown in the following table (all data in the table are hexadecimal
numbers, signed):
105
Modbus
Slave address Byte count Bit 8~15 Bit 0~7 Bit 24~31 Bit 16~23 CRC (L) CRC (H)
instruction
01 03 04 00 03 00 00 0A 33
（2) Request encoder single-turn position register value, address is P21.34, data is unsigned 32-bit, range is
0~131072 (the maximum value of the range is related to the number of motor encoder bits).
The request frame format is as follows.

01 03 15 22 00 02 60 0D
The format of the response frame for the command is shown in the following table (all data in the table are hexadecimal
numbers, unsigned)
Modbus
Slave address Byte count Bit 8~15 Bit 0~7 Bit 24~31 Bit 16~23 CRC (L) CRC (H)
instruction
01 03 04 36 07 00 01 85 BA
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106
Chapter 6 Tuning
6.1 Gain tuning.......................................................................................................................................108

6.2 Automatic gain tuning..................................................................................................................109
6.3 Adaptive filter..................................................................................................................................111

6.3.1 Function description.............................................................................................................................................111
6.4 Manual gain tuning........................................................................................................................112

6.4.2 Tuning in the position mode...............................................................................................................................113
6.4.3 Tuning in the speed mode...................................................................................................................................113
6.4.4 Gain switching function........................................................................................................................................113
6.4.5 Feedforward function...........................................................................................................................................116
6.4.6 Mechanical resonance suppression..................................................................................................................117
6.4.7 Low-frequency vibration suppression.............................................................................................................118
6.5 Inertia identification.......................................................................................................................120

6.5.1 Self-learning of load parameters.......................................................................................................................120
6.1 Gain tuning
6.1.1 Overall description
◆ Purpose:
Servo drives need to drive motors stably, quickly, and accurately, allowing the motor to faithfully track position, speed, or
torque instructions with as little delay as possible. To achieve this, the gain of the servo drive control loop must be adjusted.
See the example below:
Figure Figure 6.1 Example of gain definition
Gain setting grade: Low Gain setting grade: High Gain setting grade: High + feedforward
Position loop gain: 20.0HZ Position loop gain: 100.0HZ Position loop gain: 100.0HZ
Speed loop gain: 50.0HZ Speed loop gain: 50.0HZ Speed loop gain: 50.0HZ
Speed loop integral time: 50.0 Speed loop integral time: 50.0 Speed loop integral time: 50.0
Speed feedforward: 0 Speed feedforward: 0 Speed feedforward: 50.0
Inertia ratio: 1.00 Inertia ratio: 1.00 Inertia ratio: 1.00
◆ Procedure:
F
After confirming the compatibility of servo drive and servo motor, users can follow procedures below for gain tuning:
• Tuning
108
6.2 Automatic gain tuning
Function description
◆ Overview:
Automatic gain tuning means that with the rigidity level selection function (P00-03), the servo drive will automatically gen-
erate a set of matched gain parameters to meet the needs of stability, accuracy, and speed.
◆ Procedure:
Before starting the automatic gain tuning process, it is important to perform self-learning of the load parameters (which
currently consists mainly of load inertia identification) or to obtain the relevant load parameters by manual calculation.
The automatic gain tuning process is shown below.
There are two main types of real-time auto-tuning modes (P00.02):
1-Standard mode, which is mainly applicable to speed and torque control.
2-Positioning mode, which is mainly applicable to the position control mode, and has the same effect as the standard
mode in speed control and torque control. The setting range of rigidity level (P00.03) is from 0 to 31. Level 0 corresponds to the
weakest rigidity and the smallest gain; level 31 corresponds to the strongest rigidity and the largest gain.
Depending on the load type, the following empirical values for the rigidity level can be used for reference:
Level 5 to 8, some complex transmission machinery
Level 9 to 14, belt drive, cantilever beam structure and other systems with low rigidity.
Level 15 to 20, higher rigidity systems such as ball screws, rack and pinion, and direct drive systems.
F
The flowchart of automatic gain tuning:
• Tuning
109
◆ Relevant parameters:
0: Invalid;
P00 02 Real time auto-tuning 1: Standard auto-tuning 1 0 Immediate Set at stop PST
2: Positioning mode
P00 03 Rigidity grade setting 0~31 1 12 Immediate Set at operation PST
P00 04 Inertia ratio 0~60.00 0.01 1.00 Immediate Set at operation PST
◆ Parameters that are updated automatically:

As the rigidity level changes, the servo drive automatically calculates the gain parameters internally, thereby updating the
following parameters.
Function code Name Description Unit Value

P01 00 Position loop gain 1 1.0Hz ～ 2000.0Hz 0.1HZ Automatic update
P01 01 Speed loop gain 1 1.0Hz ～ 2000.0Hz 0.1HZ Automatic update
P01 02 Speed loop integral time 1 0.15ms ～ 512.00ms 0.01ms Automatic update
P01 04 Torque instruction filtering 1 0.00ms ～ 100.00ms 0.01ms Automatic update
P01 05 Position loop gain 2 1.0Hz ～ 2000.0Hz 0.1HZ Automatic update
P01 06 Speed loop gain 2 1.0Hz ～ 2000.0Hz 0.1HZ Automatic update
P01 07 Speed loop integral time 2 0.15ms ～ 512.00ms 0.01ms Automatic update
P01 09 Torque instruction filtering 2 0.00ms ～ 100.00ms 0.01ms Automatic update
◆ Parameters that are set to fixed values:

The following parameters will be set to fixed values.
F
• Tuning
P01 03 Speed detection filtering 1 0.00ms ～ 100.00ms 0.01ms 0.00ms
P01 08 Speed detection filtering 2 0.00ms ～ 100.00ms 0.01ms 0.00ms
P01 12 Speed feedforward gain 0.0% ～ 100.0% 0.1% 30.0%
Speed feedforward filtering
P01 13 0.00ms ～ 64.00ms 0.01ms 0.50ms
time
P01 15 Torque feedforward gain 0.0% ～ 100.0% 0.1% 0.0%
Torque feedforward filtering
P01 16 0.00ms ～ 64.00ms 0.01ms 0.00ms
time
◆ Parameters that are updated on conditions:

The following parameters are set to fixed values when the real-time auto-tuning mode is the positioning mode, otherwise
they remain unchanged.

0: The 1st gain fixed
1: The 2nd gain fixed
2: Utilize DI input (GAIN-SWITCH)
3: Large torque instruction
4: Sharply-changed speed instruction
Position control 5: Large speed instruction
P01 18 1 10
switching mode 6: Large position deviation (P)
7: With position instruction (P)
8: Uncompleted positioning (P)
9: Large actual speed (P)
10: With position instruction (P)
actual speed (P)
110
Position control
P01 19 0~1000.0ms 0.1ms 5.0ms
switching delay
Position control 0~20000 (Unit: based on gain switching mode descrip-
P01 20 1 50
switching class tion)
Position control
0~20000 (Unit: based on gain switching mode descrip-
P01 21 switching hystere- 1 33
tion)
sis
Position gain
P01 22 0~1000.0ms 0.1ms 3.3ms
switching time
6.3 Adaptive filter
6.3.1 Function description
◆ Overview：
In actual operation, the internal resonance detection module of the drive uses the vibration components in the motor
feedback to determine the resonance frequency, and accordingly automatically sets the parameters of the built-in notch filter
to attenuate the vibration near the resonance point.
This function is only available in the position control and speed control modes, where the motor is in a state of unobstruct-
ed normal rotation (not in a state of speed limitation, torque limitation, travel limitation, or clearing of the position deviation
counter).
F
◆ Precautions：
The adaptive filter function may not be effective under the following conditions:
• Tuning
1. When the resonant point frequency is less than 3 times the speed response frequency;
2. When the peak resonance or gain is so low that the effect of the resonance on the control performance is not visible;
3. When there are more than 3 resonance points;
4. When the speed of the motor changes drastically due to mechanical non-linear factors;
5. When the rapid acceleration instruction (the absolute value of acceleration and deceleration speed is more than
30,000rpm/s).
◆ Procedure:
Set the adaptive filter mode (P02.02) to a value other than 0 or 4, and input the enable command and control command.
The effect of the resonance point will be shown in the motor speed. The resonance detection module will detect the mechani-
cal resonance point and display it in parameters P02.31~P02.36, and at the same time, the parameters of the 3rd notch filter or
(and) 4th notch filter will be updated dynamically according to the number of the set adaptive filters. Generally, if mechanical
vibration is detected, P02.02 can be set to 1, and then the parameters of the 3rd notch filter will be updated automatically. After
the parameters are stabilized, observe whether the mechanical vibration is effectively suppressed, and if the effect is satisfac-
tory, set P02.02 to 0 and work with fixed parameters. However, given that some mechanical systems have more than one res-
onance point, if a relatively large residual vibration is found, set P02.02 to 2. At this time, the parameters of the 4th notch filter
will also be automatically updated to attenuate the vibration of another vibration point. If the result is satisfactory, set P02.02
to 0 and work with fixed parameters. If there is still a large vibration, it can be suppressed by manually setting the 1st and 2nd
notch filter parameters (see Section 7.4.6 for details).
111
Function code Name Setting range The smallest unit Default setting
0-4
0: Adaptive is invalid, the 3rd and the 4th filters are function-
ing but parameters are not updated;
1: One adaptive filter is valid. Only the 3rd filter is functioning
with updated parameters.
P02 02 Adaptive filter mode 2: Two adaptive filter are valid. The 3rd and the 4th filters are 1 0
functioning with updated parameters.
3: Resonance frequency testing, but parameters are not
updated.
4: Clear adaptive records, the 3rd & 4th filters are not
functioning.
Resonance point 1
P02 31 50 ～ 5000Hz 1Hz Display parameter
frequency
Resonance point 1
P02 32 0 ～ 20 1 Display parameter
bandwidth
Resonance point 1
depth
Resonance point 2
P02 34 50 ～ 5000Hz 1Hz Display parameter
frequency
Resonance point 2
bandwidth
F
Resonance point 2
• Tuning
depth
◆ Parameters that are updated automatically:
P02 10 The 3rd notch filter frequency 50 ～ 5000Hz 1Hz 5000Hz

P02 11 The 3rd notch filter width 0 ～ 20 1 2
P02 12 The 3rd notch filter depth 0 ～ 99 1 0
P02 13 The 4th notch filter frequency 50 ～ 5000Hz 1Hz 5000Hz
P02 14 The 4th notch filter width 0 ～ 20 1 2
P02 15 The 4th notch filter depth 0 ～ 99 1 0
6.4 Manual gain tuning
6.4.1 Overall description

The X5 series servo drives can use the automatic gain tuning function in most applications. However, under certain com-
plex load conditions, automatic gain tuning may not always result in optimal performance. Therefore, it is necessary to readjust
the gain parameters. This section explains the manual gain tuning method in various control modes.
When tuning the gain parameters, the response curve of the instruction can be observed by the background software in-
stalled on the computer, which can be used as a reference for manually tuning the parameters.
112
6.4.2 Tuning in the position mode
◆ Procedures:
1. Set the correct load inertia value P00.04, or set it automatically with the load parameter self-learning function.
2. Set the following parameters to the default values shown in the table below:
P00 02 Real-time auto-tuning mode 0 P01 13 Speed feed-forward filtering time 0

P01 00 Position loop gain 1 40.0HZ P01 18 Position control switching mode 0
P01 01 Speed loop gain 1 20.0HZ P01 23 Speed control switching mode 0
P01 02 Speed loop integral time 1 30.00ms P01 27 Torque control switching mode 0
Position instruction smoothing
P01 03 Speed detection filtering 1 0.00ms P02 00 0
filtering
P01 04 Torque instruction filtering 1 1.00ms P02 01 Position instruction FIR filtering 0
P01 05 Position loop gain 2 40.0HZ P02 02 Adaptive filter mode 0
P01 06 Speed loop gain 2 20.0HZ P02 04 The 1st notch frequency (manual) 5000
P01 07 Speed loop integral time 2 30.00ms P02 07 The 2nd notch frequency (manual) 5000
P01 08 Speed detection filtering 2 0.00ms P02 10 The 3rd notch frequency 5000
P01 09 Torque instruction filtering 2 1.00ms P02 13 The 4th notch frequency 5000
P01 10 Speed regulator PDFF coefficient 100.0% P02 20 The 1st damping frequency 0
P01 12 Speed feedforward gain 0 P02 22 The 2nd damping frequency 0
3. Adjust the parameter values in the table below as target values until the desired performance index is achieved.
Observe the positioning time, if the positioning time is too long, increase
F
P01 00 Position loop gain 1 50.0 1/s this value; otherwise, reduce it. If the time is too long, vibration may
occur.
• Tuning
Adjust the gain upwards provided that no vibration occurs, there are no
P01 01 Speed loop gain 1 30.0HZ abnormal noises, and there is no significant overshoot, otherwise adjust
it downwards.
If the value is reduced, the positioning time decreases. If the value is
Speed loop integral time
P01 02 25.00ms too small, vibration may occur. If the value is large, it may not be able to
1
converge to 0.
When vibration occurs, try to change this value. This value is used in
P01 04 Torque instruction filter 1 0.50ms
conjunction with P01.02 and is positively correlated.
Increase the feedforward gain can reduce the real-time position devi-
ation without causing vibrations and rattles. Uneven input instructions
P01 12 Speed feedforward gain 30.0%
can be improved by increasing the feedforward filter time constant
P01.13. Before using speed feedforward, set P01.11 to a non-zero value.
6.4.3 Tuning in the speed mode

The procedure for the speed control mode is similar to that for the position control mode, except for the position loop re-
lated parameters P01.00, P01.05, and the speed feedforward parameters P01.12, P01.13.
6.4.4 Gain switching function
◆ The following effects can be achieved by switching the gain according to the internal status or
by an external signal:
1. Suppress vibration during stop while improving the dynamic response of servo following performance as much as pos-
sible.
113
2. Increase the gain of the whole timing to shorten the positioning time.
3. Switch gain according to external signals
◆ Gain switching example:
◆ Procedure:
Here is an example of how to achieve high-response following during operation and low noise and vibration during stop.
1. Firstly, the gain switching function is not enabled, the 1st gain is fixed, and the 1st gain is adjusted when there is a run-
ning instruction so that the motor can achieve a good dynamic following performance.
2. Copy the group 1 gain parameters to group 2 parameters.
3. Set the gain switching conditions, P01.18 can be set to 7 for position control, and P01.19~P01.22 can be set according
F
to actual needs, and the default value can be used.
4. When the instruction stops, the 1st speed loop gain (P01.01) is reduced and the torque instruction filtering time (P01.04)
• Tuning
is slightly increased, which causes the noise to stop and the vibration to decrease.
◆ Gain switching condition description:
The 2nd gain switching Delay time Switching grade Switching hysteresis
condition
Timing P01.19 P01.20 P01.21
No. P01.18 Applicable mode
diagram P01.24 P01.25 P01.26
P01.23
P01.28 P01.29 P01.30
P01.27
0 The 1st gain fixed PST Inapplicable Inapplicable Inapplicable
1 The 2nd gain fixed PST Inapplicable Inapplicable Inapplicable
Utilize DI input (GAIN-
2 PST Inapplicable Inapplicable Inapplicable
SWITCH)
3 Large torque instruction PST A Applicable Applicable（%） Applicable（%）
Sharply-changed speed
4 S B Applicable Applicable（10rpm/s） Inapplicable
instruction
5 Large speed instruction PS C Applicable Applicable（1rpm/s） Applicable（1rpm/s）
Applicable（1 Encoder Applicable（1 Encoder
6 Large position deviation P D Applicable
resolution unit） resolution unit）
7 With position instruction P E Applicable Inapplicable Inapplicable
8 Uncompleted positioning P F Applicable Inapplicable Inapplicable
9 Large actual speed P C Applicable Applicable（1rpm/s） Applicable（1rpm/s）
10 With position instruction P G Applicable Applicable（1rpm/s） Applicable（1rpm/s）
◆ View the following timing diagrams in numbered order:

1. When the gain switching condition is "Utilize DI input (GAIN-SWITCH)", only when the function code DI function GAIN-
114
SWITCH switching selection (P01.17) is set to 1 will the gain switching of groups 1 and 2 be carried out. Otherwise, the P/PI
switching of the speed loop will be carried out.
2. The delay time only applies when the 2nd gain returns to the 1st gain.
3. When P01.18 is equal to 10, the definition of each parameter is different from other modes, so please refer to the G di-
agram in the Figure. 8.5.
F
• Tuning
115
6.4.5 Feedforward function
◆ Overview:
For position control, the desired speed control value can be calculated from the position control instruction, i.e. the speed
feedforward. This is added to the speed instruction regulated according to the feedback to output the actual speed control in-
struction. Compared with a feedback-only control system, this algorithm reduces the real-time position deviation and improves
the system response characteristics. The larger the feedforward gain, the smaller the position deviation will be. Theoretically,
when the feedforward gain is equal to 100%, the position deviation is equal to 0.
The position deviation follows the calculation formula:
Position deviation = (Position instruction speed / Position loop gain ) x (100.0% - Speed feedforward gain ).
Similarly, the desired torque control value, i.e. the torque feedforward, can be calculated from the speed control instruction.
This is added to the torque instruction regulated from the feedback to output the actual torque control instruction. This algo-
rithm reduces the real-time speed deviation and improves the system response characteristics compared to a feedback-only
control system. In position control, the use of torque feedforward can reduce the position deviation in the constant acceleration
section. When using torque feedforward, make sure the load inertia parameter (P00.04) is set correctly.
In practice, when the feedforward gain is too large, it may lead to a significant overshoot (position overshoot), which can
cause mechanical vibration. The machine will work with a large sound, at this time, vibration and noise can be reduced by two
methods:
1: Turn down the feedforward gain;
2: Increase the time constant of the feedforward filter.
F
• Tuning
Speed feedforward 0: No speed feedforward
P01 11 1 0
control selection 1: Internal speed feedforward
Speed feedforward
P01 12 0.0% ～ 100.0% 0.1% 30.0%
gain
Speed feedforward
P01 13 0.00ms ～ 64.00ms 0.01ms 0.50ms
filtering time
0: No torque feedforward
Torque feedforward
P01 14 1: Internal torque feedforward 1 0
control selection
2: Use TFFD as torque feedforward input
Torque feedforward
P01 15 0.0% ～ 100.0% 0.1% 0.0%
gain
Torque feedforward
P01 16 0.00ms ～ 64.00ms 0.01ms 0.00ms
filtering time
The torque feedforward can use the analog input external feedforward, which can be used in the case of the upper device
calculating the torque feedforward. In this case, it is necessary to set the torque feedforward selection (P01.14) to 2 and specify
the input channel of TFFD in the analog input-related settings, and the correspondence between instruction and voltage.
116
6.4.6 Mechanical resonance suppression
The mechanical system has a certain resonance frequency, when the servo gain is increased, it may resonate near the me-
chanical resonance frequency, resulting in the gain not being able to continue to increase. There are two ways to suppress me-
chanical resonance:
1. Torque instruction filter（P01.04，P01.09）

The torque instruction filter is a digital low-pass filter that suppresses mechanical resonance by setting the filter time con-
stant to attenuate the amplitude of the frequency components of the torque instruction near and above the cut-off frequency.
Filter cut-off frequency fc (Hz) = 1000 / [ 2π × torque instruction filter time constant (ms) ].
2. Notch filter
The torque instruction filters are digital band-reject filters. The X5 servo drive has a total of 4 sets of series-connected
notch filters to choose from. The 1s and 2nd notch filters are manual settings and the 3rd and 4th notch filters are adaptive fil-
ters.
◆ Adaptive filter
For a description of the adaptive filters, see section 6.3.
◆ Notch filter
When the adaptive filter does not enable adaptive parameter settings (P02.02 is not set to 1,2), all 4 notch filters can be
manually adjusted. In this case, the resonance frequency detection module can still be activated by setting the adaptive fil-
ter mode (P02.02) to 3 to give servo enable and control instructions. Check the display parameters P02.31~P02.36 to get the
mechanical resonance data and use it as a reference to set the filter manually. If available, the resonance data can also be ob-
F
tained by adding a vibration tester to the mechanical actuator to test the modal state of the mechanical system.
• Tuning
The 1st notch filter frequency
P02 04 50 ～ 5000Hz 1Hz 5000Hz
(manual)
P02 05 The 1st notch filter width 0 ～ 20 1 2
P02 06 The 1st notch filter depth 0 ～ 99 1 0
The 2nd notch filter frequency
P02 07 50 ～ 5000Hz 1Hz 5000Hz
(manual)
P02 08 The 2nd notch filter width 0 ～ 20 1 2
P02 09 The 2nd notch filter depth 0 ～ 99 1 0
P02 10 The 3rd notch filter frequency 50 ～ 5000Hz 1Hz 5000Hz
P02 11 The 3rd notch filter width 0 ～ 20 1 2
P02 12 The 3rd notch depth 0 ～ 99 1 0
P02 13 The 4th notch filter frequency 50 ～ 5000Hz 1Hz 5000Hz
P02 14 The 4th notch filter width 0 ～ 20 1 2
P02 15 The 4th notch filter depth 0 ～ 99 1 0
The notch filter frequency, denoted as f0, represents the center frequency of the notch filter. Meanwhile, the notch filter
width is determined by the bandwidth coefficient of the stopband, which can be calculated as Kw = (f2 - f1) / f0. Here, f2 and
f1 refer to the upper and lower frequencies that correspond to an attenuation of -3dB in the amplitude-frequency response
(AFR) characteristic, respectively. Additionally, the notch filter depth, represented by the notch filter attenuation depth coeffi-
cient, can be calculated as the amplitude ratio of the output to the input at the notch center frequency point, denoted as Kd =
A / A0.
117
Notch filter amplitude-frequency characteristics:
◆ The frequency domain response curve when the notch filter depth is set to 1 and 0, respectively:
F
• Tuning
The role of the notch filter in servo control:
6.4.7 Low-frequency vibration suppression
◆ Overview:
If the mechanical load at the end is long, vibration is likely to occur when the positioning stops, which can affect the posi-
tioning effect. This type of vibration typically has a lower frequency than the mechanical resonance frequency, so it is referred
to as low-frequency vibration. The function of low-frequency vibration suppression can effectively reduce the vibration ampli-
118
tude and positioning time.
◆ Procedure:
Figure Figure Low-frequency vibration waveform during positioning control

In practical applications, it is possible to encounter a situation where there is a long end mechanism on the actuating part
and there is an obvious oscillation when the position instruction stops, which is reflected in the position control waveform with
periodic vibration in the position deviation (or absolute position feedback), as shown in Figure 8.10. In this case, users can
follow the steps shown in Figure 8.11 to observe the waveform of sampling absolute position or position deviation triggered
when the speed of position instruction is changed from non-zero to zero through the background software, and calculate the
low-frequency vibration frequency and attenuation coefficient (attenuation coefficient = A1/A0), and correctly set to the 1st
damping parameter (P02.20, P02.21). After completing the above operation, observe the waveform again, if there is still peri-
F
odic vibration, continue to set the 2nd damping parameter according to the method shown in Figure 8.11. After the low-fre-
quency suppression works, the positioning response waveform will be greatly improved, and the positioning tuning time will be
• Tuning
shortened obviously, as shown by the thick line in Figure 8.10.
P02 20 The 1st damping frequency 10.0HZ~100.0HZ 0.1Hz 0.0Hz
P02 21 The 1st damping filter setting 0~1.0 0.1 0
P02 22 The 2nd damping frequency 10.0HZ~100.0HZ 0.1Hz 0.0Hz
P02 23 The 2nd damping filter setting 0~1.0 0.1 0
119
F
• Tuning
6.5 Inertia identification
6.5.1 Self-learning of load parameters
120
Chapter 7 Parameters
7.1 List of parameters...........................................................................................................................122
7.2 Parameter description ..................................................................................................................133

P00 Basic setting..................................................................................................................................................................133
P01 Gain tuning ....................................................................................................................................................................136
P02 Vibration suppression.................................................................................................................................................143
P03 Speed & torque control parameters........................................................................................................................146
P04 Digital input and output.............................................................................................................................................151
P05 Analog input and output............................................................................................................................................157
P06 Expansion parameters.................................................................................................................................................160
P07 Auxiliary function.........................................................................................................................................................166
P08 Internal position instruction......................................................................................................................................170
P09 Communication setting..............................................................................................................................................179
P17 Expansion position control function.......................................................................................................................181
P18 Motor model.................................................................................................................................................................183
P20 Key and communication control interface............................................................................................................184
P21 Status parameters........................................................................................................................................................186

7.1 List of parameters
Relevant mode:
P: position control S: speed control T: torque control
The symbol “●” indicates applicable in this mode; and “—” indicates inapplicable in this mode.
Relevant mode
Group No. Name
P S T
00 Motor rotation positive direction definition ● ● ●
01 Control mode selection ● ● ●
02 Real-time auto-tuning mode ● ● ●
03 Rigidity grade setting ● ● ●
04 Inertia ratio ● ● ●
05 Position instruction source ● ● ●
07 Pulse train form ● - -
08 Required pulse instruction number per turn of motor rotation (32-bit) ● - -
10 Electronic gear 1 numerator (32-bit） ● - -
12 Electronic gear denominator (32-bit） ● - -
14 Pulse number per turn of motor rotation (32-bit) ● - -
P00 16 Pulse output positive direction definition ● ● ●
Basic setting 17 Pulse output OZ polarity ● - -
18 Pulse output function selection ● - -
19 Overlarge position deviation threshold (32-bit) ● ● ●
21 Braking resistor setting ● ● ●
22 External resistor power capacity ● ● ●
23 External resistor value ● ● ●
G
24 External resistor heating time constant ● ● ●
25 Regenerative voltage point ● ● ●
• Parameters
26 Step value setting ● - -
27 High-speed pulse train pattern ● - -
28 Modulus mode low bit (32-bit） ● - -
30 Modulus mode high bit (32-bit） ● - -
Relevant mode
Group No. Name
P S T
00 Position loop gain 1 ● - -
01 Speed loop gain 1 ● ● -
02 Speed loop integral time 1 ● ● -
03 Speed detection filtering 1 ● ● ●
04 Torque instruction filtering 1 ● ● ●
05 Position loop gain 2 ● - -
P01 06 Speed loop gain 2 ● ● -
Gain tuning 07 Speed loop integral time 2 ● ● -
08 Speed detection filtering 2 ● ● ●
09 Torque instruction filtering 2 ● ● ●
10 Speed regulator PDFF coefficient ● ● -
11 Speed feed-forward control selection ● - -
12 Speed feed-forward gain ● - -
13 Speed feed-forward filtering time ● - -
122
Relevant mode
Group No. Name
P S T
14 Torque feed-forward control selection ● ● -
15 Torque feed-forward gain ● ● -
16 Torque feed-forward filtering time ● ● -
17 DI function GAIN—SWITCH action switching selection ● ● —
18 Position control switching mode ● ● -
19 Position control switching delay ● ● -
20 Position control switching class ● ● -
21 Position control gain switching hysteresis ● ● -
22 Position gain switching time ● ● -
23 Speed control switching mode - ● -
24 Speed control switching delay - ● -
25 Speed control switching class - ● -
26 Speed control switching hysteresis - ● -
27 Torque control switching mode - - ●
28 Torque control switching delay - - ●
29 Torque control switching class - - ●
30 Torque control switching hysteresis - - ●
P01
31 Observer enabled ● ● ●
Gain tuning
32 Observer cut-off frequency ● ● ●
33 Observer phase compensation time ● ● ●
34 Observer inertia coefficient ● ● ●
41 Model tracking option ● - -
42 Model tracking gain ● - -
43 Model tracking compensation factor ● - -
G
44 Model tracking speed compensation gain ● - -
45 Model tracking torque compensation gain 1 ● - -
• Parameters
46 Model tracking torque compensation gain 2 ● - -
47 Model tracking gain 2 ● - -
48 Model tracking compensation coefficient 2 ● - -
49 Model anti-resonance frequency ● - -
50 Model residual vibration frequency ● - -
51 Vibration suppression frequency point ● - -
52 Vibration suppression compensation coefficient ● - -
53 Model delay bandwidth parameter ● - -
54 Model delay compensation parameter ● - -
Relevant mode
Group No. Name
P S T
00 Position instruction smoothing filter ● — —
01 Position instruction FIR filter ● - -
02 Adaptive filter mode ● ● ●
P02 03 Adaptive filter load mode ● ● ●
Vibration sup- 04 The first notch filter frequency (manual) ● ● ●
pression 05 The first notch filter width ● ● ●
06 The first notch filter depth ● ● ●
07 The second notch filter frequency (manual) ● ● ●
08 The second notch filter width ● ● ●
123
Relevant mode
Group No. Name
P S T
09 The second notch filter depth ● ● ●
10 The third notch filter frequency ● ● ●
11 The third notch filter width ● ● ●
12 The third notch filter depth ● ● ●
14 The fourth notch filter width ● ● ●
15 The fourth notch filter depth ● ● ●
19 Position instruction FIR filter 2 ● - -
20 The first vibration damping frequency ● ● -
P02 21 The first vibration damping filtering setting ● ● -
Vibration sup- 22 The second vibration damping frequency ● ● -
pression 23 The second vibration damping filtering setting ● ● -
31 Resonance point 1 frequency ● ● ●
32 Resonance point 1 bandwidth ● ● ●
33 Resonance point 1 depth ● ● ●
34 Resonance point 2 frequency ● ● ●
35 Resonance point 2 bandwidth ● ● ●
36 Resonance point 2 depth ● ● ●
Relevant mode
Group No. Name
P S T
00 Speed instruction source — ● —
03 Speed instruction setting value - ● -
04 JOG speed setting - ● -
08 Torque limit source ● ● -
09 Internal forward torque limit ● ● -
G
10 Internal reverse torque limit ● ● -
• Parameters
11 External forward torque limit ● ● -
12 External reverse torque limit ● ● -
14 Acceleration time 1 - ● ●
15 Deceleration time 1 - ● ●
16 Acceleration time 2 - ● -
P03 17 Deceleration time 2 - ● -

Speed & 19 Zero-speed clamp function - ● ●
torque control 20 Zero-speed clamp threshold value - ● ●
parameters 22 Torque instruction source - - ●
25 Torque instruction key set value - - ●
26 Speed limit source under torque control - - ●
27 Internal positive speed limit - - ●
28 Internal negative speed limit - - ●
29 Hard limit torque limit ● ● ●
30 Hard limit torque limit detection time ● ● ●
31 Speed instruction number selection mode - ● -
32 Acceleration time number for speed instruction from segment 1 to 8 - ● -
33 Deceleration time number for speed instruction from segment 1 to 8 - ● -
34 Acceleration time number for speed instruction from segment 9 to 16 - ● -
35 Deceleration time number for speed instruction from segment 9 to 16 - ● -
36 Segment 1 speed - ● -
124
Relevant mode
Group No. Name
P S T
41 Segment 6 speed — ● —
P03
Speed &
torque control
parameters
Relevant mode
Group No. Name
P S T
00 Normal DI filter selection ● ● ●
01 DI1 terminal function selection ● ● ●
G
• Parameters
11 DI1 terminal logic selection ● ● ●
P04 15 DI5 terminal logic selection ● ● ●
Digital input and 16 DI6 terminal logic selection ● ● ●
output 17 DI7 terminal logic selection ● ● ●
21 DO1 terminal function selection ● ● ●
31 DO1 terminal logic level selection ● ● ●
125
Relevant mode
Group No. Name
P S T
41 FunINL signal unassigned status (HEX) ● ● ●
42 FunINH signal unassigned status (HEX) ● ● ●
43 Motor rotational signal (TGON) threshold ● ● ●
44 Speed conformity signal width - ● -
45 Speed specified value arrival ● ● ●
P04 47 Positioning completion range ● - -
Digital input and 48 Positioning completion output setting ● - -
output 49 Positioning completion holding time ● - -
50 Positioning near range ● - -
51 Servo OFF delay time after holding brake taking action when speed is 0 ● ● ●
52 Speed setting for holding brake to take action in motion ● ● ●
53 Waiting time for holding brake to take action in motion ● ● ●
55 Torque set value arrival ● ● ●
56 Torque arrival detection width ● ● ●
57 Z-phase pulse width adjustment ● ● ●
58 Zero-speed signal output threshold ● ● ●
Relevant mode
Group No. Name
P S T
00 AI1 minimum input
01 Setting value corresponding to the AI1 minimum input ● ● ●
02 AI1 maximum input ● ● ●
G
03 Setting value corresponding to the AI1 maximum input ● ● ●
• Parameters
04 AI1 zero-point fine tuning ● ● ●
05 AI1 dead band setting ● ● ●
06 AI1 input filtering time ● ● ●
07 AI2 minimum input ● ● ●
08 Setting value corresponding to the AI2 minimum input ● ● ●
09 AI2 maximum input ● ● ●
10 Setting value corresponding to the AI2 maximum input ● ● ●
P05 11 AI2 zero-point fine tuning ● ● ●
Analog input and 12 AI2 dead band setting ● ● ●
out put 13 AI2 input filtering time ● ● ●
14 AI setting 100% speed ● ● ●
15 AI setting 100% torque ● ● ●
16 AI1 function selection ● ● ●
17 AI2 function selection ● ● ●
28 AO1 signal selection (need optional card) ● ● ●
29 AO1 voltage offset ● ● ●
30 AO1 multiplication ● ● ●
31 AO2 signal selection (need optional card) ● ● ●
32 AO2 voltage offset ● ● ●
33 AO2 multiplication ● ● ●
34 AO monitoring value type ● ● ●
126
Relevant mode
Group No. Name
P S T
00 Electronic gear numerator 2 (32-bit) ● - -
06 Position deviation clearing function ● - -
09 Electronic gear ratio switching delay ● - -
10 Potential energy load torque compensation ● ● -
11 P06.10 and friction compensation storage options ● ● -
12 Forward rotation frictional torque compensation ● ● -
13 Reverse rotation friction torque compensation ● ● -
14 Viscous friction compensation ● ● -
15 Friction compensation time constant ● ● -
16 Friction compensation low speed range ● ● -
18 The first type fault stop selection ● ● ●
19 Parameter identification rate ● ● -
20 Parameter identification acceleration time ● ● -
21 Parameter identification deceleration time ● ● -
22 Parameter identification mode selection ● ● -
23 Initial angle identification current limit ● ● ●
24 Instantaneous power failure protection ● ● ●
25 Instantaneous power failure deceleration time ● ● ●
26 Servo OFF stop mode selection ● ● ●
P06
27 The second type fault stop mode selection ● ● ●
Expansion
28 Over-travel input setting ● ● ●
parameters
29 Over-travel stop mode selection ● ● ●
G
30 Input power phase loss protection ● ● ●
31 Output power phase loss protection ● ● ●
• Parameters
32 Stop by emergency stop torque ● ● ●
33 Tripping protection function ● ● ●
34 Overload warning value ● ● ●
35 Motor overload protection coefficient ● ● ●
36 Undervoltage protection point ● ● ●
37 Over-speed fault point ● ● ●
38 Maximum input pulse frequency ● - -
39 Short circuit to ground detection protection selection ● ● ●
40 Encoder interference detection delay ● ● ●
41 Input pulse filtering setting ● - -
42 Input pulse inhibition setting ● - -
43 Deviation clearing input setting ● - -
44 The second encoder input filtering ● ● ●
45 Overlarge speed deviation threshold ● ● -
46 Torque saturation timeout duration ● ● ●
47 Absolute system setting ● ● ●
48 Encoder battery undervoltage threshold ● ● ●
49 High-speed pulse input filtering ● ● ●
127
Relevant mode
Group No. Name
P S T
00 Panel display option ● ● ●
01 Panel monitoring parameter setting 1 ● ● ●
08 Function selection 1 ● ● ●
10 User password ● ● ●
11 Instant memory storage during power outage ● ● ●
P07 12 User password screen-lock time ● ● ●
Auxiliary function 14 Fast deceleration time ● ● ●
parameters 16 Function selection 3 ● ● ●
17 Resolution ● - -
23 Fault reset timing ● ● ●
24 Positive soft limit (32-bit) ● ● ●
26 Negative soft limit (32-bit) ● ● ●
28 Holding time of return completion signal during non-DI return ● ● ●
30 Total number of DB stop ● ● ●
Relevant mode
G
Group No. Name
P S T
• Parameters
00 Multi-segment preset position execution method ● - -
01 Starting segment number ● - -
02 Ending segment number ● - -
03 Dealing of residual segments after pausing and restarting ● - -
04 Position instruction type ● - -
05 Waiting time unit ● - -
06 The first segment displacement (32-bit) ● - -
08 The first segment maximum speed ● - -
09 The first segment acceleration/deceleration time ● - -
10 Waiting time after the first segment completed ● - -
P08
11 The second segment displacement (32-bit) ● - -
Internal position
13 The second segment maximum speed ● - -
instruction
14 The second segment acceleration/deceleration time ● - -
15 Waiting time after the second segment completed ● - -
16 The third segment displacement (32-bit) ● - -
18 The third segment maximum speed ● - -
19 The third segment acceleration/deceleration time ● - -
20 Waiting time after the third segment completed ● - -
21 The fourth segment displacement (32-bit) ● - -
23 The fourth segment maximum speed ● - -
24 The fourth segment acceleration/deceleration time ● - -
25 Waiting time after the fourth segment completed ● - -
128
Relevant mode
Group No. Name
P S T
28 The fifth segment maximum speed ● - -
29 The fifth segment acceleration/deceleration time ● - -
30 Waiting time after the fifth segment completed ● - -
31 The sixth segment displacement (32-bit) ● - -
33 The sixth segment maximum speed ● - -
34 The sixth segment acceleration/deceleration time ● - -
35 Waiting time after the sixth segment completed ● - -
36 The seventh segment displacement (32-bit) ● - -
38 The seventh segment maximum speed ● - -
39 The seventh segment acceleration/deceleration time ● - -
40 Waiting time after the seventh segment completed ● - -
41 The eighth segment displacement (32-bit) ● - -
43 The eighth segment maximum speed ● - -
44 The eighth segment acceleration/deceleration time ● - -
45 Waiting time after the eighth segment completed ● - -
46 The ninth segment displacement (32-bit) ● - -
48 The ninth segment maximum speed ● - -
49 The ninth segment acceleration/deceleration time ● - -
50 Waiting time after the ninth segment completed ● - -
51 The 10th segment displacement (32-bit) ● - -
53 The 10th segment maximum speed ● - -
54 The 10th segment acceleration/deceleration time ● - -
P08 55 Waiting time after the 10th segment completed ● - -
Internal position 56 The 11th segment displacement (32-bit) ● - -
G
instruction 58 The 11th segment maximum speed ● - -
• Parameters
60 Waiting time after the 11th segment completed ● - -
129
Relevant mode
Group No. Name
P S T
86 Position instruction interrupt execution setting ● - -
88 Homing start method ● - -
89 Homing mode ● - -
90 Limit switch and z-phase signal setting when homing ● - -
P08
92 Origin search high speed ● - -
Internal position
93 Origin search low speed ● - -
instruction
94 Acceleration/deceleration time during origin searching ● - -
95 Homing time limit ● - -
96 Origin offset (32-bit) ● - -
98 Mechanical origin offset (32-bit) ● - -
相关模式
组号名称
P S T
00 Servo axis address number ● ● ●
01 Modbus baud rate ● ● ●
02 Modbus data format ● ● ●
03 Communication timeout ● ● ●
P09 04 Communication response delay ● ● ●
Communication 05 Communication DI enabling setting 1 ● ● ●
setting 06 Communication DI enabling setting 2 ● ● ●
07 Communication DI enabling setting 3 ● ● ●
08 Communication DI enabling setting 4 ● ● ●
09 Communication DO enabling setting 1 ● ● ●
10 Communication DO enabling setting 2 ● ● ●
11 Communication instruction holding time ● ● ●
G
相关模式
• Parameters
组号名称
P S T
00 External encoder usage ● — —
01 External encoder pitch (32-bit) ● — —
03 Full-closed mixed deviation threshold(32-bit) ● — —
05 Mixed deviation counting setting ● — —
06 Mixed vibration suppression gain ● — —
07 Mixed vibration suppression time constant ● — —
09 External units for full closed loop mixed deviation (32-bit) ● — —
P17 11 External units for internal encoder count value (32-bit) ● — —
Expansion 13 External encoder count value (32-bit) ● — —
position control 16 Position comparison output mode ● — —
17 The first position (32-bit) ● — —
19 The second position (32-bit) ● — —
21 The third position (32-bit) ● — —
23 The fourth position (32-bit) ● — —
25 Signal validity time 1 ● — —
26 Signal effective time 2 ● — —
29 Display delay ● — —
130
相关模式
组号名称
P S T
P18 00 Motor model code (32-bit) ● ● ●
相关模式
组号名称
P S T
00 Key JOG trial ● ● ●
01 Fault reset ● ● ●
02 Communication parameters ● ● ●
P20 03 Parameter identification function ● ● ●
Key and 05 Analog input automatic offset adjustment ● ● ●
communication 06 System initialization function ● ● ●
control 08 Communication operation instruction input ● ● ●
09 Communication operation status output ● ● ●
11 Communication setting DI input ● ● —
12 Communication starting homing ● — —
相关模式
组号名称
P S T
00 Servo status ● ● ●
01 Motor speed feedback ● ● ●
02 Servo fault codes ● ● ●
03 Speed instruction ● ● ●
04 Internal torque instruction (relative to rated torque) ● ● ●
05 Phase current effective value ● ● ●
06 DC busbar voltage ● ● ●
07 Absolute position counter (32-bit) ● ● ●
G
09 Electrical angle ● ● ●
10 Mechanical angle (relative to encoder zero point) ● ● ●
• Parameters
11 Load inertia identification value ● ● ●
12 Speed value relative to input instruction ● ● ●
13 Position deviation counter (32-bit) ● ● ●
15 Input pulse counter (32-bit) ● ● ●
P21
17 Feedback pulse counter (32-bit) ● ● ●
Status
19 Position deviation counter instruction unit (32-bit) ● ● ●
parameters
21 Digital input signal monitoring ● ● ●
22 Inertia identification value ● ● ●
23 Digital output signal monitoring ● ● ●
24 Encoder status ● ● ●
25 Total power-on time (32-bit) ● ● ●
27 AI1 voltage after adjustment ● ● ●
28 AI2 voltage after adjustment ● ● ●
29 AI1 voltage before adjustment ● ● ●
30 AI2 voltage before adjustment ● ● ●
31 Module temperature ● ● ●
32 Number of turns of absolute encoder (32-bit) ● ● ●
34 Single turn position of absolute encoder (32-bit) ● ● ●
36 Version code 1 ● ● ●
131
相关模式
组号名称
P S T
39 Product series code ● ● ●
40 Fault record display ● ● ●
41 Fault code ● ● ●
42 Time stamp upon selected fault (32-bit) ● ● ●
44 Current rotation speed of the selected fault ● ● ●
45 U-phase current of the selected fault ● ● ●
47 Busbar voltage of the selected fault ● ● ●
P21
48 Input terminal state of the selected fault ● ● ●
Status
49 Output terminal state of the selected fault ● ● ●
parameters
50 Customized software version number ● ● ●
51 Load ratio ● ● ●
52 Regenerative load ratio ● ● ●
53 Internal warning code ● ● ●
54 Current segment number of internal instruction ● ● ●
55 Customized serial code ● ● ●
56 Absolute position counter high 32 bits (32-bit) ● ● ●
58 Feedback pulse counter high 32 bits (32-bit) ● ● ●
G
• Parameters
132
7.2 Parameter description
P00 Basic setting
Motor rotation positive Range Default Unit Effective Relevant mode

P00.00
direction definition 0～1 0 -- Restart P S T
Set the relation between instruction direction and motor rotational direction:
0: When the instruction is positive, motor rotational direction is CCW (counterclockwise from facing the motor shaft)
1: When the instruction is positive, motor rotational direction is CW (clockwise from facing the motor shaft)

P00.01 Control mode selection
Set the desired control mode
0: Position mode;
1: Speed mode;
2: Torque mode;
3: Position mode / speed mixed mode
4: Position/Torque mixed mode
5: Speed mode / Torque mixed mode
6: (Reserved)
7: CANOpen mode / EtherCAT mode
When modes 3 to 5 are selected, the DI function MODE_SEL is used to switch between the two modes; when MODE_SEL is
G
0, the control mode is mode 1, and when MODE_SEL is 0 or 1, the control mode changes to mode 2. When CANOpen commu-
nication control or EtherCAT communication control is used, mode 7 is configured.
• Parameters
Real-time auto-tuning Range Default Unit Effective Relevant mode
P00.02
mode 0～3 1 -- Immediate P S T
Set the mode for real-time auto-tuning.
0: Invalid, real-time auto-tuning function is invalid.
1: Standard mode, no gain switching.
2: Positioning mode, with gain switching, is especially suitable for position control.
3: Dynamic testing of load, without parameter setting

P00.03 Rigidity grade setting
0 ～ 31 12 -- Immediate P S T
Set the response level for real-time auto-tuning.
The higher the setting value from 0 to 31, the higher the bandwidth of the servo control circuit, the faster the response,
and the greater the vibration that may be generated.
Be sure to check the effect of the movement while adjusting the rigidity level from low to high.
The changed parameter is effective only when the control instruction is 0. Change the parameter, stop the instruction, and
confirm that the parameter has taken effect before proceeding to the next step.
133
P00.04 Inertia ratio
0 ～ 6000 100 0.01 Immediate P S T
Set the ratio of load to motor inertia.
0 ～ 60.00

P00.05 Position instruction source
0～3 0 -- Restart P
Set the source of instruction for position control.
0: Pulse instruction
1: Step value instruction
2: Internal position control
3: High-speed pulse instruction

P00.07 Pulse train form
Set the input form of the pulse instruction.
0: Direction + Pulse, positive logic. ( Default )
1: Direction + pulse, negative logic
2: A-phase (Pulse)+B-phase (sign) orthogonal pulse 4 multiplication frequency, positive logic (A is ahead of B)
3: Phase A (Pulse)+Phase B (sign) orthogonal pulse 4 multiplication frequency, negative logic (B is ahead of A)
G
Required pulse instruction Range Default Unit Effective Relevant mode
P00.08 number per turn of motor
• Parameters
0 ～ 1073741824 10000 1Unit Restart P
rotation (32-bit)
Set the required pulse instruction number per turn of motor rotation, which can be used in place of electronic gears.
0 Unit/Turn ～ 1073741824 Unit/Turn
It works when this function code value is 0.
Electronic gear 1 Range Default Unit Effective Relevant mode

P00.10
numerator (32-bit） 0 ～ 1073741824 0 -- Immediate P
Set the numerator of the first group electronic gear.
1 ～ 1073741824
It works when P00.08=0.
Electronic gear Range Default Unit Effective Relevant mode

P00.12
denominator (32-bit） 1 ～ 1073741824 10000 -- Immediate P
Set the denominator for the first group electronic gears.
1 ～ 1073741824
It works when P00.08=0.
Pulse number per turn of Range Default Unit Effective Relevant mode
P00.14
motor rotation (32-bit) 16 ～ 131071 2500 1PPR Restart P
134
Set the number of OUTA or OUTB pulses output per turn of the motor rotation.
16PPR ～ 65535PPR (calculate the number of lines according to the incremental photoelectric encoder)
Pulse output positive Range Default Unit Effective Relevant mode

P00.16
direction definition 0～1 0 -- Restart P S T
Set the phase sequence logic for the pulse output function.
0: CCW (pulse output OUTA ahead of OUTB when the motor rotation direction is CCW)
1: CW (pulse output OUTA ahead of OUTB when the motor rotation direction is CW)

P00.17 Pulse output OZ polarity
0: High level at the arrival of Z-phase pulse
1: Low level at the arrival of Z-phase pulse
2: High-precision Z-phase pulse, high level at the arrival of Z-phase pulse
3: High-precision Z-phase pulse, low level at the arrival of Z-phase pulse
Pulse output function Range Default Unit Effective Relevant mode

P00.18
selection 0～3 0 -- Restart P
0: Encoder frequency division output;
1: Pulse instruction synchronous output.
2: Pulse instruction interpolation output (gantry synchronization)
3: External encoder pulse synchronization output
Overlarge position Range Default Unit Effective Relevant mode

P00.19 deviation threshold (32-
G
1 ～ 1073741824 200000 1P Immediate P S T
bit)
• Parameters
Set the threshold for detecting over large position deviation (Err.043 error) in units of the encoder minimum resolution.
1P ～ 1073741824P

P00.21 Braking resistor setting
0～1 1 -- Immediate P S T
Set the form in which the energy-consumption braking resistor is used.
0: Use internal regenerative resistor (100s)
1: Use external regenerative resistor and natural cooling (150s) or forced air cooling (200s)
External resistor power Range Default Unit Effective Relevant mode

P00.22
capacity 1 ～ 65535 100 1W Immediate P S T
Set the power of the energy consumption braking resistor.
1W ～ 65535W

P00.23 External resistor value
1 ～ 1000 100 1Ω Immediate P S T
Set the resistance value of the energy consumption braking resistor.
1Ω ～ 1000Ω
135
External resistor heating Range Default Unit Effective Relevant mode
P00.24
time constant 1 ～ 30000 2000 0.1s Immediate P S T
Set the heating time constant of the energy consumption braking resistor.
0.1s ～ 3000.0s

P00.25 Regenerative voltage point
0 ～ 1000 385 -- Immediate P S T
0V ～ 1000V（generally default）

P00.26 Step value setting
-9999 ～ 9999 50 -- Immediate P
Set the instruction setting value for step amount position control.
-9999 to 9999 instruction unit

P00.27 High pulse train form
0: Direction + pulse, positive logic (default)
1: Direction + pulse, negative logic
2: Phase-A (pulse) +Phase-B(sign) orthogonal pulse, 4 multiplication, positive logic
3: Phase-A +Phase-B orthogonal pulse, 4 multiplication, negative logic
Modulus mode low bit (32- Range Default Unit Effective Relevant mode
P00.28
bit）
G
0 ～ 1073741824 0 -- Restart P
Set the low 32 bits of the modulus parameter (64 bits)
• Parameters
Set to 0:The modulus function is invalid.
Set to greater than 0: P21.17 will cycle from 0 to the analog setting value.
P01 Gain tuning

P01.00 Position loop gain 1
10 ～ 20000 400 0.1/s Immediate P
Set the position loop gain to determine the position loop response level.
1.0/s ～ 2000.0/s。
The higher the gain, the faster the position loop response. However, too large a setting may cause vibration.

P01.01 Speed loop gain 1
10 ～ 20000 200 0.1HZ Immediate P S
Set the speed loop gain to determine the speed loop response level.
1.0Hz to 2000.0Hz.
The higher the gain, the faster the speed loop response. However, too large a setting may cause vibration.
136
P01.02 Speed loop integral time 1
15 ～ 51200 3000 0.01ms Immediate P S
Set the integration time of the speed loop controller.
0.15ms to 512.00ms.
The smaller the setting value, the smaller the steady-state deviation.
When the integration time is equal to 512.00, the integration is invalid.

P01.03 Speed detection filtering 1
Set the filter level for speed detection.
0 ～ 15
The larger the value, the better the vibration suppression effect. However, the response bandwidth may be reduced.
Torque instruction filtering Range Default Unit Effective Relevant mode

P01.04
1 0 ～ 10000 100 0.01ms Immediate P S T
Set the first-order low-pass filter time constant for the torque instruction section.
0.00ms to 100.00ms.
It suppresses the resonance caused by mechanical distortion.

P01.05 Position loop gain 2
10 ～ 20000 400 0.1/s Immediate P
1.0/s ~ 2000.0/s, the second set of parameters acts as above.

P01.06 Speed loop gain 2
G
10 ～ 20000 200 0.1HZ Immediate P S
1.0 Hz to 2000.0 Hz, the second set of parameters acts as above.
• Parameters
P01.07 Speed loop integral time 2
15 ～ 51200 3000 0.01ms Immediate P S
0.15ms ~ 512.00ms, the second set of parameters acts as above.

P01.08 Speed detection filtering 2
Sets the filter level for speed detection.
0 to 15
The larger the value, the better the vibration suppression effect, however, the response bandwidth will be reduced.
Torque instruction filtering Range Default Unit Effective Relevant mode

P01.09
2 0 ～ 10000 100 0.01ms Immediate P S T
0.00ms ~ 100.00ms, the second set of parameters acts as above.
Speed regulator PDFF Range Default Unit Effective Relevant mode

P01.10
coefficient 0 ～ 1000 1000 0.1% Immediate P S
Set the PDFF coefficient of the speed regulator, 0 to 100.0%
Setting to 100% is equivalent to the PI regulator (default), and setting to 0% is equivalent to PDF regulation;
Setting to an intermediate value reduces overshoot, but decreases the response level of the speed loop (relative to the PI
137
regulator).
Speed feed-forward Range Default Unit Effective Relevant mode

P01.11
control selection 0～2 0 -- Restart P
Set the speed feedforward selection for position control.
0: No speed feedforward
1: Internal speed feedforward

P01.12 Speed feed-forward gain
0 ～ 1500 300 0.1% Immediate P
Set the speed feedforward gain for position control. Position deviation at a certain speed can be reduced.
0.0% to 100.0
Speed feed-forward Range Default Unit Effective Relevant mode

P01.13
filtering time 0 ～ 6400 50 0.01ms Immediate P
Set the speed feedforward filter time constant for position control.
0.00ms ～ 64.00ms
Torque feed-forward Range Default Unit Effective Relevant mode

P01.14
control selection 0～3 0 -- Restart P S
Set the torque feedforward selection for position or speed control.
0: No torque feedforward
1: Internal torque feedforward
2: TFFD is used as torque feedforward input.
G
P01.15 Torque feed-forward gain
0 ～ 1000 0 0.1% Immediate P S
• Parameters
Set the torque feedforward gain for position or speed control. Position deviation during acceleration and deceleration can
be reduced.
0.0% to 100.0%
Torque feed-forward Range Default Unit Effective Relevant mode

P01.16
filtering time 0 ～ 6400 0 0.01ms Immediate P S
Set the time constant of the torque feedforward filter for position or speed control.
0.00ms to 64.00ms
DI function GAIN—SWITCH Range Default Unit Effective Relevant mode

P01.17
action switching selection 0～1 0 -- Immediate P S
Set the role of the DI function GAIN-SWITCH.
0: Speed loop regulator P(1)/PI(0) switching, gain is fixed to the first group.
1: First gain (0), second gain (1) switching
Position control switching Range Default Unit Effective Relevant mode

P01.18
mode 0 ～ 10 0 -- Immediate P S
Trigger condition setting for gain switching during position control.
0: The first gain fixed (P01.00 ～ P01.04)
138
1: The second gain fixed (P01.05 to P01.09)
2: Group 1 and 2 gain switching using DI input (GAIN_SEL) or P/PI switching by the speed regulator.
3: Large torque instruction, torque instruction over level (P01.20) + hysteresis (P01.21) switches to the 2nd gain, and when
the torque instruction is lower than level (P01.20) - hysteresis (P01.21) it returns to the 1st gain within the specified delay time.
Unit:0.1%.
4: Not applicable to position control and full closed-loop control mode
5：Speed instruction is large, speed instruction exceeds the level (P01.20) + hysteresis (P01.21) to switch to the 2nd gain,
when the speed instruction is lower than the level (P01.20) - hysteresis (P01.21) in the specified delay time to return to the 1st
gain Unit: 1rpm
6: position deviation is large, position deviation over the level (P01.20) + hysteresis (P01.21) switch to the 2nd gain, when
the position deviation is lower than the level (P01.20) - hysteresis (P01.21) in the specified delay time to return to the 1st gain
Unit: 1 encoder resolution
7: There is a position instruction, position instruction is not 0 when switching to the second gain, when the position in-
struction continues to be 0 in the specified delay time back to the first gain
8：When the positioning is not completed, switch from the 1st gain to the 2nd gain; when the positioning is completed
and then return to the 1st gain within the specified delay time.
9: the actual speed is large, speed feedback over the level (P01.20) + hysteresis (P01.21) switch to the 2nd gain, when the
speed feedback is lower than the level (P01.20) - hysteresis (P01.21) in the specified delay time to return to gain 1
10: With position instruction plus actual speed, switch to 2nd gain when position instruction is not 0, return to 1st gain
when position instruction is 0 and the absolute value of actual speed is lower than the grade (P01.20) - hysteresis (P01.21).

P01.19
delay 0 ～ 1000 50 0.1ms Immediate P S
Set the delay time for gain switching during position control.
G
0 ～ 100.0ms
• Parameters
P01.20
class 0 ～ 20000 50 -- Immediate P S
Set the trigger level of gain switching for position control.
0 to 20000 (Unit: according to the gain switching mode description), note that this parameter takes the value set in P01.21
as the lower limit.
Position control gain Range Default Unit Effective Relevant mode

P01.21
switching hysteresis 0 ～ 20000 33 -- Immediate P S
Set the hysteresis of the trigger level of gain switching for position control.
0 to 20000 (Unit: according to the gain switching mode description), note that this parameter takes the setting value of
P01.20 as the upper limit.
Position gain switching Range Default Unit Effective Relevant mode

P01.22
time 0 ～ 10000 33 0.1ms Immediate P S
Set the transition time from small gain to large gain for gain switching during position control.
0 ～ 1000.0ms
Speed control switching Range Default Unit Effective Relevant mode

P01.23
mode 0～5 0 -- Immediate S
Trigger condition setting for gain switching during speed control.
139
2: Group 1 and 2 gain switching using DI function 3 (GAIN_SEL) or P/PI switching by the speed regulator.
3: Large torque instruction, torque instruction over level (P01.25) + hysteresis (P01.26) switches to 2nd gain, and when the
torque instruction is lower than level (P01.25) - hysteresis (P01.26) it returns to 1st gain within the specified delay time. Unit: 0.1
%
4: The speed instruction change is large; the speed instruction change amount exceeds the level (P01.25) + hysteresis
(P01.26) switching to the 2nd gain when the speed instruction change amount is lower than the level (P01.25) - hysteresis
(P01.26) return to the 1st gain within the specified delay time. Unit: 10rpm/s
5: Speed instruction is large, speed instruction over rank (P01.25) + hysteresis (P01.26) switches to 2nd gain, when speed
instruction is lower than rank (P01.25) - hysteresis (P01.26) returns to 1st gain within the specified delay time. Unit: 1rpm

P01.24
delay 0 ～ 1000 0 0.1ms Immediate S
Set the delay time for gain switching during speed control.
0 ～ 100.0ms

P01.25
class 0 ～ 20000 0 -- Immediate S
Set the trigger level for gain switching during speed control.
as the lower limit.

P01.26
hysteresis 0 ～ 20000 0 -- Immediate S
G
Set the hysteresis of the trigger level for gain switching during speed control.
• Parameters
0 to 20000 (Unit: according to the gain switching mode description), note that this parameter takes the setting value of
P01.25 as the upper limit.
Torque control switching Range Default Unit Effective Relevant mode

P01.27
mode 0～3 0 -- Immediate T
Trigger condition setting for gain switching during torque control.
2: Group 1 and 2 gain switching using DI input (GAIN-SWITCH) or P/PI switching by speed regulator.
3: Large torque instruction, torque instruction over level (P01.29) + hysteresis (P01.30) switches to the 2nd gain, and when
the torque instruction is lower than level (P01.29) - hysteresis (P01.30) it returns to the 1st gain within the specified delay time,
Unit: 0.1%

P01.28
delay 0 ～ 1000 0 0.1ms Immediate T
Set the delay time for gain switching during torque control.
0 ～ 100.0ms

P01.29
class 0 ～ 20000 0 -- Immediate T
140
Set the trigger level for gain switching during torque control.
as the lower limit.

P01.30
hysteresis 0 ～ 20000 0 -- Immediate T
Set the hysteresis of the trigger level for gain switching during torque control.
0 to 20000 (Unit: according to the gain switching mode description) Note that this parameter takes the value set in P01.29
as the upper limit.

P01.31 Observer enabled
0-Not Enabled
1-Debugging
2-Enabled

P01.32 Observer cut-off frequency
0 ～ 500 100 1Hz Restart P S T
Observer phase Range Default Unit Effective Relevant mode

P01.33
compensation time 0 ～ 10000 0 0.01ms Immediate P S T

P01.34 Observer inertia coefficient
0 ～ 10000 1000 -- Restart P S T

P01.41 Model tracking option
0～7 0 -- Immediate P
G
0-Not enabled
• Parameters
1-Enabled, model 1, no external feedforward
2-Enabled, model 1, valid external feedforward
3-Enabled, model 2, no external feedforward
4-Enabled, model 2, valid external feedforward

P01.42 Model tracking gain
10 ～ 20000 500 0.1 Immediate P
Model tracking Range Default Unit Effective Relevant mode

P01.43
compensation factor 500 ～ 2000 1000 0.1% Immediate P
Model tracking speed Range Default Unit Effective Relevant mode

P01.44
compensation gain 0 ～ 2000 1000 0.1 Immediate P
Model tracking torque Range Default Unit Effective Relevant mode

P01.45
compensation gain 1 0 ～ 10000 1000 0.1 Immediate P
141
Model tracking torque Range Default Unit Effective Relevant mode
P01.46
compensation gain 2 0 ～ 10000 1000 0.1 Immediate P

P01.47 Model tracking gain 2
10 ～ 20000 500 0.1 Immediate P
Model tracking Range Default Unit Effective Relevant mode

P01.48
compensation coefficient 2 500 ～ 2000 1000 0.1% Immediate P
Model anti-resonance Range Default Unit Effective Relevant mode

P01.49
frequency 10 ～ 2000 500 0.1HZ Immediate P
Model residual vibration Range Default Unit Effective Relevant mode

P01.50
frequency 10 ～ 2000 700 0.1HZ Immediate P
Vibration suppression Range Default Unit Effective Relevant mode

P01.51
frequency point 10 ～ 2000 800 0.1HZ Immediate P
Vibration suppression Range Default Unit Effective Relevant mode

P01.52
compensation coefficient 10 ～ 1000 100 -- Immediate P
G
Model delay bandwidth Range Default Unit Effective Relevant mode
• Parameters
P01.53
parameter 0 ～ 30000 4500 0.1 Immediate P
Model delay compensation Range Default Unit Effective Relevant mode

P01.54
parameter 500 ～ 1500 800 -- Immediate P
142
P02 Vibration suppression
Position instruction Range Default Unit Effective Relevant mode

P02.00
smoothing filter 0 ～ 65535 0 0.1ms Immediate P
In position control mode, set the position instruction first-order low-pass filter time constant, and the filtering effect is
shown below:
Position instruction FIR Range Default Unit Effective Relevant mode

P02.01
filter 0 ～ 1280 0 0.1ms Immediate P
In position control mode, set the position instruction first-order low-pass filter time constant, and the filtering effect is
shown below:
G
• Parameters
P02.02 Adaptive filter mode
Set the operating mode of the adaptive filter.
0: Adaptation is not valid; the 3rd and 4th filters work but the parameters are unchanged
1: One adaptive filter is valid (the 3rd filter parameters are updated according to the adaptive result)
2: Two adaptive filters valid (the 3rd,4th filter parameters updated according to adaptive results)
3: Resonance frequency determination, results are displayed but filter parameters are not updated
4: Clear adaptive results (adaptive not valid and the 3rd and 4th filters are not working)

P02.03 Adaptive filter load mode
0: 1
143
0: High rigidity load
1: Low rigidity load
The first notch filter Range Default Unit Effective Relevant mode
P02.04
frequency (manual) 50 ～ 5000 5000 1Hz Immediate P S T
Set the center frequency of the 1st notch filter.
50 to 5000Hz. This filter is not effective at 5000Hz.

P02.05 The first notch filter width
Set the frequency width of the 1st notch filter.
0 ～ 12

P02.06 The first notch filter depth
Set the depth corresponding to the center frequency of the 1st notch filter.
0 ～ 99
The second notch filter Range Default Unit Effective Relevant mode
P02.07
frequency (manual) 50 ～ 5000 5000 1Hz Immediate P S T
Set the center frequency of the 2nd notch filter.
50 ～ 5000Hz. This filter is not effective at 5000Hz.
P02.08
width 0 ～ 12 2 -- Immediate P S T
Set the frequency width of the 2nd notch filter.
G
0 ～ 12
• Parameters
P02.09
depth 0 ～ 99 0 -- Immediate P S T
Set the depth corresponding to the center frequency of the 2nd notch filter.
0 ～ 99
The third notch filter Range Default Unit Effective Relevant mode
P02.10
frequency 50 ～ 5000 5000 1Hz Immediate P S T
Set the center frequency of the 3rd notch filter (i.e., the first adaptive filter).
50 ～ 5000Hz，This filter is not effective at 5000Hz.

P02.11 The third notch filter width
Set the frequency width of the 3rd notch filter (i.e., the first adaptive filter).
0 ～ 12

P02.12 The third notch filter depth
Set the depth corresponding to the center frequency of the 3rd notch filter (i.e., the first adaptive filter).
0 ～ 99
144
The fourth notch filter Range Default Unit Effective Relevant mode
P02.13
frequency 50 ～ 5000 5000 1Hz Immediate P S T
Set the center frequency of the 4th notch filter (i.e., the second adaptive filter).
50 ～ 5000Hz. This filter is not effective at 5000Hz.
P02.14
width 0 ～ 12 2 -- Immediate P S T
Set the frequency width of the 4th notch filter (i.e., the second adaptive filter).
0 ～ 12
P02.15
depth 0 ～ 99 0 -- Immediate P S T
Set the depth corresponding to center frequency of the 4th notch filter (i.e., the second adaptive filter).
0 ～ 99
Position instruction FIR Range Default Unit Effective Relevant mode

P02.19
filter 2 0 ～ 1280 0 0.1ms Immediate P
Set the position instruction FIR filter time constant when in position control mode.
0.0ms ～ 128.0ms
The first vibration damping Range Default Unit Effective Relevant mode
P02.20
frequency 0 ～ 1000 0 0.1Hz Immediate P S
Set the frequency value of the low-frequency resonance frequency point 1.
10.0HZ ～ 100.0HZ
G
The first vibration damping Range Default Unit Effective Relevant mode
P02.21
filtering setting 0 ～ 10 0 0.1 Immediate P S
• Parameters
Set the half-cycle attenuation coefficient for the low-frequency resonance frequency point 1.
0 ～ 1.0
The second vibration Range Default Unit Effective Relevant mode

P02.22
damping frequency 0 ～ 1000 0 0.1Hz Immediate P S
Set the frequency value of the low-frequency resonance frequency point 2. 10.0HZ ～ 100.0HZ
The second vibration Range Default Unit Effective Relevant mode

P02.23
damping filtering setting 0 ～ 10 0 0.1 Immediate P S
Set the half-period attenuation coefficient for the low-frequency resonance frequency point 2.
0 ～ 1.0
Resonance point 1 Range Default Unit Effective Relevant mode

P02.31
frequency 0 ～ 5000 5000 1Hz Display only P S T
Resonance frequency detected by the 1st adaptive filter

P02.32
bandwidth 0 ～ 20 2 -- Display only P S T
Frequency width detected by the 1st adaptive filter
145
P02.33
amplitude 0 ～ 1000 0 -- Display only P S T
Amplitude of the resonant frequency detected by the 1st adaptive filter

P02.34
frequency 0 ～ 5000 5000 1Hz Display only P S T
Resonance frequency detected by the 2nd adaptive filter

P02.35
bandwidth 0 ～ 20 2 -- Display only P S T
Frequency width detected by the 2nd adaptive filter

P02.36
amplitude 0 ～ 1000 0 -- Display only P S T
Amplitude of the resonance frequency detected by the 2nd adaptive filter
P03 Speed & torque control parameters

P03.00 Speed instruction source
0～6 0 -- Restart S
Set the source of instruction during speed control.
0: Digital setting (P03:03)
1: SPR (default AI1)
2: SPR, multi-segment instruction 2 ～ 16 switching
G
3: Multi-segment instruction 1 ～ 16 switching
• Parameters
5: SPR + digital setting
6: Multi-segment instruction 1 to 16 switching + digital setting
Speed instruction setting Range Default Unit Effective Relevant mode

P03.03
value -9000 ～ 9000 200 1rpm Immediate S
Set the speed instruction digital setting value.
-9000rpm ～ 9000rpm

P03.04 JOG speed setting
0 ～ 3000 200 1rpm Immediate S
Set the speed setting value during JOG.
0rpm ～ 3000rpm

P03.08 Torque limit source
0～3 0 -- Immediate P S
Torque limiting source selection.
0: Positive and negative internal torque limit (default)
1: Positive and negative external torque limit, when the 16 limit and 17 function of DI (P_CL, N_CL) are configured and valid,
146
the torque set by parameter P03.11 and P03.12 shall prevail; when this DI function is invalid, the torque limit set by parameter
P03.09 and P03.10 shall prevail.
2: TLMTP is used as forward and reverse torque limit, and the input of analog AI1 or AI2 (AI1 or AI2 is selected by P05.16
and P05.17, and when selected at the same time, AI1 prevails) is used as the forward and reverse torque limitation value at the
same time.
3: TLMTP, TLMTN forward and reverse limit, with the input of analog AI1 and AI2, respectively, as the forward and reverse
torque limit values.
Internal forward torque Range Default Unit Effective Relevant mode

P03.09
limit 0 ～ 5000 3000 0.1% Immediate P S
Set the internal torque limit value during forward rotation in the range of 0.0% to 500.0% (based on the rated motor
torque).
Internal reverse torque Range Default Unit Effective Relevant mode

P03.10
Set the internal torque limit value during reverse rotation in the range of 0.0% to 500.0% (based on the rated torque of the
motor).
External forward torque Range Default Unit Effective Relevant mode

P03.11
Set the external torque limit value during the forward rotation in the range of 0.0% to 500.0% (based on the rated motor
torque).
When DI is configured with function 16 (P_CL) and the DI input is valid, the forward rotation external torque limit is in ef-
fect; this setting value must not be greater than the P03.09
(Forward rotation internal torque limit value) setting value. When this setting value is greater than the value set by param-
eter P03.09, the torque limit value will be the value set by P03.09.
G
External reverse torque Range Default Unit Effective Relevant mode
P03.12
• Parameters
Set the external torque limit value during reverse rotation in the range of 0.0% to 500.0% (based on the rated torque of the
motor)
When DI is configured with function 17 (N_CL) and the DI input is valid, the reverse rotation external torque limit is in ef-
fect; this set value must not be greater than the P03.10 (reverse rotation internal torque limit value) set value. When this setting
value is greater than the parameter P03.10 setting value, the torque limit value will be the value set in P03.10.
147
P03.14 Acceleration time 1
0 ～ 65535 10 1ms Immediate S T
Acceleration and deceleration time to set the speed instruction from 0 to 1000rpm as shown below:

P03.15 Deceleration time 1
0 ～ 65535 10 1ms Immediate S T
0ms ～ 65535ms/1000rpm

P03.16 Acceleration time 2
0 ～ 65535 0 1ms Immediate S
0ms ～ 65535ms/1000rpm

P03.17 Deceleration time 2
0 ～ 65535 0 1ms Immediate S
0ms ～ 65535ms/1000rpm
G
• Parameters
P03.19 Zero-speed clamp function
0～2 0 -- Immediate S T
Set the action at zero speed clamp.
0: Invalid
1: When ZERO_SPD is valid, the speed instruction is forced to 0
2: When ZERO_SPD is valid, the speed instruction is forced to 0. When the actual motor speed is lower than P03.20, it
switches to position control and locks at the current position.
Zero-speed clamp Range Default Unit Effective Relevant mode

P03.20
threshold value 0 ～ 1000 10 1rpm Immediate S T
0rpm ～ 1000rpm

P03.22 Torque instruction source
0～4 0 -- Restart T
Set the source of torque instruction during torque control.
0: Digital setting (P03.25)
1: TQR (using AI input value as torque instruction value)
2: Digital setting, TQR switching (CMD_SEL)
148
4: TQR + digital setting
Torque instruction key set Range Default Unit Effective Relevant mode
P03.25
value 0 0.1% Immediate T
-300.0% to 300.0% (based on rated motor torque)
Speed limit source under Range Default Unit Effective Relevant mode
P03.26
torque control 0～1 0 -- Immediate T
0: Forward and reverse internal speed limits P03.27, P03.28
1: SPL (using AI input value as speed limit)
Internal positive speed Range Default Unit Effective Relevant mode

P03.27
limit 0 ～ 9000 3000 -- Immediate T
0rpm ～ 9000rpm
Internal negative speed Range Default Unit Effective Relevant mode

P03.28
limit 0 ～ 9000 3000 -- Immediate T
0rpm ～ 9000rpm

P03.29 Hard limit torque limit
0 ～ 4000 3000 0.1% Immediate P S T
Torque limit value when a hard limit is encountered.
-300.0% to 300.0% (based on motor rated torque).
A hard limit is considered to be encountered when the torque instruction rises rapidly and lasts longer than the detection
time set in P03.30. Use the symbol of the torque instruction to distinguish between positive and negative hard limits.
Hard limit torque limit Range Default Unit Effective Relevant mode
G
P03.30
detection time 0 ～ 2000 100 -- Immediate P S T
• Parameters
Torque limit detection time when hard limit is encountered, 0ms to 2000ms.
Speed instruction number Range Default Unit Effective Relevant mode

P03.31
selection mode 0～1 0 -- Restart S
Set the internal multi-segment speed control method.
0: DI terminal selection
1: Communication selection
Acceleration time number Range Default Unit Effective Relevant mode

P03.32 for speed instruction from
0～1 0 -- Immediate S
segment 1 to 8
0: Acceleration time 1 (P03.14)
Deceleration time number Range Default Unit Effective Relevant mode

segment 1 to 8
0: Deceleration time 1 (P03.15)
149
Acceleration time number Range Default Unit Effective Relevant mode
segment 9 to 16
0: Acceleration Time 1 (P03.14)
Deceleration time number Range Default Unit Effective Relevant mode

segment 9 to 16

P03.36 Segment 1 speed
-9000 ～ 9000 0 1rpm Immediate S
16 internal multi-segment speed set values.
-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

G
-9000rpm ～ 9000rpm
• Parameters
-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm
150
-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm

-9000rpm ～ 9000rpm
G
• Parameters
P04 Digital input and output

P04.00 Normal DI filter selection
0 ～ 10000 500 1us Restart P S T
0 ～ 10000
DI1 terminal function Range Default Unit Effective Relevant mode

P04.01
selection 0 ～ 63 1 -- Restart P S T
Input function code: 0 ～ 63
0: No definition
1 ～ 63: Refer to the digital input (DI) function definition table, some DI functions are undefined and reserved.

P04.02
0: No definition
151
P04.03
0: No definition

P04.04
0: No definition

P04.05
0: No definition

P04.06
0: No definition
G
P04.07
• Parameters
0: No definition

P04.08
0: No definition

P04.11 DI1 terminal logic selection
Input polarity setting: 0 ～ 1
0: Low level is valid (closed)
1: High level is valid (open)

152




G
• Parameters


153
DO1 terminal function Range Default Unit Effective Relevant mode
P04.21
0: No definition
1 ～ 31: Refer to the digital output (DO) function definition table, some DO functions are undefined and reserved.

P04.22
0: No definition

P04.23
0: No definition

P04.24
0: No definition
G
P04.25
• Parameters
Output code: 1 ～ 31
0: No definition
DO1 terminal logic level Range Default Unit Effective Relevant mode
P04.31
selection 0～1 0 -- Restart P S T
Output polarity setting: 0 ～ 1
0: Conduct when valid (normally-open contact)
1: Not to conduct when valid (normally-closed contact)
P04.32
P04.33
154
P04.34
P04.35
FunINL signal unassigned Range Default Unit Effective Relevant mode

P04.41
status (HEX) 0000H ～ FFFFH 0 -- Restart P S T
Set the initial state of the DI function, and the DI function that is not configured to any DI terminal will maintain the initial
state after power-on initialization.
Range (hexadecimal number) 0H to FFFFH.
Bit0: Reserved
Bit1: Correspond to DI function 1
G
FunINH signal unassigned Range Default Unit Effective Relevant mode
P04.42
• Parameters
status (HEX) 0000H ～ FFFFH 0 -- Restart P S T
Range (hexadecimal number) 0H to FFFFH.
For DI functions numbered 32 and larger, user-set initial status is not supported.
Motor rotational signal Range Default Unit Effective Relevant mode

P04.43
(TGON) threshold 0 ～ 1000 20 1rpm Immediate P S T
0rpm ～ 1000rpm
Speed conformity signal Range Default Unit Effective Relevant mode

P04.44
width 10 ～ 1000 50 1rpm Immediate S
10rpm ～ 9000rpm
Speed specified value Range Default Unit Effective Relevant mode

P04.45
arrival 10 ～ 9000 100 1rpm Immediate P S T
10rpm ～ 9000rpm
155
Positioning completion Range Default Unit Effective Relevant mode
P04.47
range 1 ～ 65535 100 1P Immediate P
1P ～ 65535P

P04.48
output setting 0～7 0 -- Immediate P
0: When the absolute value of position deviation is less than the positioning completion range (P04_47), output COIN sig-
nal.
1: When the absolute value of the position deviation is less than the positioning completion range (P04_47) and the posi-
tion instruction is 0, output COIN signal.
2: If the absolute value of position deviation is less than the range of positioning completion (P04_47) and the position in-
struction is 0, the COIN signal is output and the holding time is P04_49.
3: When the absolute value of position deviation is less than the positioning completion range (P04_47), and the filtered
position instruction is 0, output COIN signal.
4: Condition 0, zero speed signal is valid, output COIN signal.

P04.49
holding time 1 ～ 65535 1 1ms Immediate P
1 ～ 65535ms

P04.50 Positioning near range
1 ～ 65535 65535 1P Immediate P
G
1P ～ 65535P
• Parameters
Servo OFF delay time after Range Default Unit Effective Relevant mode
P04.51 holding brake taking action
0 ～ 9999 10 1ms Immediate P S T
when speed is 0
0ms ～ 9999ms
Speed setting for holding Range Default Unit Effective Relevant mode
P04.52 brake to take action in
0 ～ 3000 100 1rpm Immediate P S T
motion
0rpm ～ 3000rpm
Waiting time for holding Range Default Unit Effective Relevant mode
P04.53 brake to take action in
motion
0ms ～ 9999ms

P04.55 Torque set value arrival
0 ～ 3000 1000 0.1% Immediate P S T
0.0% to 300.0% (based on rated motor torque).
When actual torque (absolute value) ≥ (P04.55 + P04.56) is detected, DO function 12 is valid.
If the actual torque (absolute value) detected is < (P04.55 + P04.56), DO function 12 is invalid.
156
Torque arrival detection Range Default Unit Effective Relevant mode
P04.56
width 0 ～ 3000 200 0.1% Immediate P S T
0.0% to 300.0% (based on motor rated torque)
Z-phase pulse width Range Default Unit Effective Relevant mode

P04.57
adjustment 0 ～ 100 50 -- Restart P S T
0 ～ 100
Zero-speed signal output Range Default Unit Effective Relevant mode

P04.58
threshold 0 ～ 1000 60 1rpm Immediate P S T
0 to 1000rpm, DO function 5 is valid after the actual speed falls below this threshold.
P05 Analog input and output

P05.00 AI1 minimum input
-1000 ～ 1000 -1000 0.01V Immediate P S T
The setting range is -10.00V to 10.00V.
Note that this parameter takes the set value of P05.02 as the upper limit.
Setting value Range Default Unit Effective Relevant mode

P05.01 corresponding to the AI1
-1000 ～ 1000 -1000 0.1% Immediate P S T
minimum input
-100.0% ～ 100.0%
(100% speed corresponds to the speed set in P05.14, and 100% torque corresponds to the torque set in P05.15.)
G
P05.02 AI1 maximum input
-1000 ～ 1000 1000 0.01V Immediate P S T
• Parameters
Note that this parameter takes the set value of P05.00 as the lower limit.

-1000 ～ 1000 1000 0.1% Immediate P S T
maximum input
-100.0% ～ 100.0%

P05.04 AI1 zero-point fine tuning
-500 ～ 500 0 1mV Immediate P S T
-500mV ～ 500mV

P05.05 AI1 dead band setting
0 ～ 200 0 0.1% Immediate P S T
0.0 ～ 20.0%

P05.06 AI1 input filtering time
0 ～ 65535 20 0.1ms Immediate P S T
0.0ms ～ 6553.5ms
157
P05.07 AI2 minimum input
-1000 ～ 1000 -1000 0.01V Immediate P S T
Note that this parameter takes the set value of P05.09 as the upper limit.

-1000 ～ 1000 -1000 0.1% Immediate P S T
minimum input
-100.0% ～ 100.0%

P05.09 AI2 maximum input
-1000 ～ 1000 1000 0.01V Immediate P S T
Note that this parameter takes the value set in P05.07 as the lower limit.

-1000 ～ 1000 1000 0.1% Immediate P S T
maximum input
-100.0% ～ 100.0%

P05.11 AI2 zero-point fine tuning
-500 ～ 500 0 1mV Immediate P S T
-500mV ～ 500mV
G
P05.12 AI2 dead band setting
0 ～ 200 0 0.1% Immediate P S T
• Parameters
0.0 ～ 20.0%

P05.13 AI2 input filtering time
0 ～ 65535 20 0.1ms Immediate P S T
0.0ms ～ 6553.5ms

P05.14 AI setting 100% speed
0 ～ 9000 3000 1rpm Immediate P S T
0 ～ 9000rpm

P05.15 AI setting 100% torque
0 ～ 500 100 0.01 Immediate P S T
0 to 5.00 times rated motor torque

P05.16 AI1 function selection
0～5
2: SPL, speed limit
158
4: TLMTN, negative steering limit
5: TFFD, Torque feed forward

P05.17 AI2 function selection
0～5
2: SPL, speed limit
4: TLMTN, negative steering limit
5: TFFD, Torque feed forward
AO1 signal selection (need Range Default Unit Effective Relevant mode
P05.28
optional card) 0 ～ 13 0 -- Immediate P S T
0: Motor speed (1V/1000rpm) default
1: Speed instruction (1V/1000rpm)
2: Torque instruction (1V/100%)
3: Position deviation (0.05V/1 instruction Unit)
4: Position amplifier deviation (after electronic gear) (0.05V/1 encoder pulse unit)
5: Position instruction speed (1V/1000 rpm)
G
6: Positioning completion instruction (completed: 5V, not completed: 0V)
7: Speed feed-forward (1V/1000rpm)
• Parameters
8: Torque feed-forward (1V/100%)
9: Load rate (1V/100%)
10: Regenerative load rate (1V/100%)
11: Drive temperature (0.1V/1° C)
12: AI1 (1V/1V)
13: AI2 (1V/1V)

P05.29 AO1 voltage offset
-10000 ～ 10000 0 1mV Immediate P S T
-10000mV ～ 10000mV

P05.30 AO1 multiplication
-9999 ～ 9999 100 0.01 Immediate P S T
-99.99 ～ 99.99
AO2 signal selection (need Range Default Unit Effective Relevant mode
P05.31
optional card) 0 ～ 13 0 -- Immediate P S T
0: Motor speed (1V/1000rpm) default
1: Speed instruction (1V/1000rpm)
159
2: Torque instruction (1V/100%)
3: Position deviation (0.05V/1 instruction unit)
4: Position amplifier deviation (after electronic gear) (0.05V/1 encoder pulse unit)
5: Position instruction speed (1V/1000 rpm)
6: Positioning completion instruction (completed: 5V, not completed: 0V)
7: Speed feed-forward (1V/1000rpm)
8: Torque feed-forward (1V/100%)
9: Load rate (1V/100%)
10: Regenerative load rate (1V/100%)
11: Drive temperature (0.1V/1° C)
12: AI1 (1V/1V)
13: AI2 (1V/1V)

P05.32 AO2 voltage offset
-10000 ～ 10000 0 1mV Immediate P S T
-10000mV ～ 10000mV

P05.33 AO2 multiplication
-9999 ～ 9999 100 0.01 Immediate P S T
-99.99 ～ 99.99

P05.34 AO monitoring value type
0000H ～ 00FFH 0 -- Immediate P S T
G
0 to 255
Hexadecimal number, each bit from right to left.
• Parameters
Digit 1: Set the monitoring value type of AO1;
Digit 2: Set the monitoring value type of AO2.
0: Signed data output, -10V to +10V.
1: Absolute value data output, 0 to 10V.
P06 Expansion parameters
Electronic gear numerator Range Default Unit Effective Relevant mode

P06.00
2 (32-bit) 0 ～ 1073741824 0 -- Immediate P
1 ～ 1073741824

P06.02
3 (32-bit) 0 ～ 1073741824 0 -- Immediate P
1 ～ 1073741824

P06.04
4 (32-bit) 0 ～ 1073741824 0 -- Immediate P
1 ～ 1073741824
160
Position deviation clearing Range Default Unit Effective Relevant mode
P06.06
function 0～3 0 -- Immediate P
0: Position deviation pulses are cleared when the servo is OFF or when a malfunction occurs.
1: Position deviation pulse is cleared only when a malfunction occurs.
2: Position deviation pulse is cleared when the servo is OFF, a malfunction occurs, or the DI function (PERR_CLR) is active.
3: Position deviation pulse is cleared only by the DI function (PERR_CLR).
Electronic gear ratio Range Default Unit Effective Relevant mode

P06.09
switching delay 0～1 0 -- Restart P
0: Position instruction pulse is 0 for 10ms and then switching
1: Real-time switching
Potential energy load Range Default Unit Effective Relevant mode

P06.10
torque compensation -100 ～ 100 0 1% Immediate P S
Compensate for gravity loads. Range: -100% ～ 100%
P06.10 and friction Range Default Unit Effective Relevant mode

P06.11 compensation storage
0～4 2 -- Immediate P S
options
0: Automatic update, power-failure storage
1：Auto-update, re-initialize to set value at power-failure
2：No automatic update
Forward rotation frictional Range Default Unit Effective Relevant mode

P06.12
torque compensation 0 ～ 3000 0 0.1% Immediate P S
G
0.1% torque
• Parameters
Unit（0 ～ 300.0）
Reverse rotation friction Range Default Unit Effective Relevant mode

P06.13
torque compensation -3000 ～ 0 0 0.1% Immediate P S
0.1% torque
Unit（-300.0 ～ 0）
Viscous friction Range Default Unit Effective Relevant mode

P06.14
compensation -3000 ～ 3000 0 0.1% Immediate P S
0.1% torque
Unit（-300.0 ～ 300.0）
Friction compensation time Range Default Unit Effective Relevant mode

P06.15
constant 0 ～ 10000 0 0.1ms Immediate P S
0.1ms
Unit（0 ～ 1000.0ms）
Friction compensation low Range Default Unit Effective Relevant mode

P06.16
speed range 0 ～ 500 1 1rpm Immediate P S
0 ～ 500rpm
161
The first type fault stop Range Default Unit Effective Relevant mode
P06.18
0 -coast to stop, remain free
1-DB stop, hold DB
Parameter identification Range Default Unit Effective Relevant mode

P06.19
rate 100 ～ 1000 500 -- Restart P S
100 ～ 1000rpm

P06.20
acceleration time 50 ～ 10000 100 -- Restart P S
50 ～ 10000ms

P06.21
deceleration time 50 ～ 10000 100 -- Restart P S
50 ～ 10000ms

P06.22
mode selection 0～1 0 -- Restart P S
0: Inertia is not automatically updated during auto-tuning.
1: Inertia is automatically updated during auto-tuning;
Initial angle identification Range Default Unit Effective Relevant mode

P06.23
current limit 0 ～ 2000 500 0.1% Restart P S T
0 ～ 200.0%
Instantaneous power Range Default Unit Effective Relevant mode
G
P06.24
failure protection 0～ 0 -- Immediate P S T
• Parameters
This protection function can be enabled in the event of a momentary power failure if the power can be restored immedi-
ately, allowing the previous state before the main power failure to be restored immediately after the power is restored.
0: The third type of fault stops in the same way as the second type of fault stops
1: Enable
Instantaneous power Range Default Unit Effective Relevant mode

P06.25
failure deceleration time 0 ～ 10000 20 1ms Immediate P S T
After enabling the momentary power failure protection, use this power failure deceleration time when stopping the ma-
chine. The range is 0ms to 10000ms/1000rpm.
Servo OFF stop mode Range Default Unit Effective Relevant mode
P06.26
1- Zero speed stop, remain free
2-Stop by emergency stop torque, remain free
3-DB stop, hold DB
4-Zero speed stop, hold DB
5-Stop by emergency stop torque, hold DB
162
The second type fault stop Range Default Unit Effective Relevant mode
P06.27
mode selection 0～5 4 -- Restart P S T
1- Zero speed stop, remain free
2-Stop by emergency stop torque, remain free
3-DB stop, hold DB
4-Zero speed stop, hold DB
5-Stop by emergency stop torque, hold DB

P06.28 Over-travel input setting
0: DI function 14 (P_OT) positive drive is disabled, DI function 15 (N_OT) negative drive is disabled
1: Invalid
Over-travel stop mode Range Default Unit Effective Relevant mode

P06.29
0: Zero speed stop, and maintain zero speed ( after overtravel is valid, the motor cannot rotate )
1: Stop at zero speed, and maintain zero speed (after overtravel is valid, the motor cannot rotate)
2: Stop by emergency stop torque, and remain free (the negative rotation is possible when positive overtravel is valid, and
the positive rotation is possible when negative overtravel is valid)
Input power phase loss Range Default Unit Effective Relevant mode
P06.30
protection 0～1 0 -- Immediate P S T
0: Enable protection
G
1: Disable protection
• Parameters
Output power phase loss Range Default Unit Effective Relevant mode
P06.31
protection 0～1 0 -- Immediate P S T
Stop by emergency stop Range Default Unit Effective Relevant mode

P06.32
torque 0 ～ 5000 3000 0.1% Immediate P S T
0.0% to 300.0% (based on motor rated torque)
Tripping protection Range Default Unit Effective Relevant mode

P06.33
function 0～1 1 -- Immediate P S T

P06.34 Overload warning value
1 ～ 100 100 1% Immediate P S T
1% ～ 100%
Motor overload protection Range Default Unit Effective Relevant mode

P06.35
coefficient 10 ～ 300 100 1% Immediate P S T
163
10% ～ 300%
Undervoltage protection Range Default Unit Effective Relevant mode

P06.36
point 50 ～ 130 100 1% Immediate P S T
50% to 100% (100% corresponds to the default undervoltage point, 180V busbar voltage, P21.06 display value)

P06.37 Over-speed fault point
50 ～ 120 120 1% Immediate P S T
50% to 120% (100% corresponds to maximum motor speed)
Maximum input pulse Range Default Unit Effective Relevant mode

P06.38
frequency 10 ～ 9000 500 1KHZ Restart P
10 ～ 9000K
Short circuit to ground Range Default Unit Effective Relevant mode

P06.39 detection protection
selection
0: Enable detection (default)
1: Disable detection
Encoder interference Range Default Unit Effective Relevant mode

P06.40
detection delay 0 ～ 99 0 -- Immediate P S T
0 ～ 99

P06.41 Input pulse filtering setting
0 ～ 500 40 -- Restart P
0 ～ 500 (Unit: 10ns)
G
Below 250KHZ, the recommended value is 40;
• Parameters
250K ～ 500K, the recommended value is 20;
500K ～ 1M, the recommended value is 10;
Above 1M, the recommended value is 5;
Above 2M, set to 0.
Pulse inhibition input Range Default Unit Effective Relevant mode

P06.42
setting 0～3 0 -- Restart P
0: 0.5ms twice continuously consistent;
1: 0.5ms three times continuously consistent;
2: 1ms three times continuously consistent;
3: 2ms three times continuously consistent.
Deviation clearing input Range Default Unit Effective Relevant mode

P06.43
setting 0～1 0 -- Restart P
0: Level is valid;
1: Edge is valid.
The second encoder input Range Default Unit Effective Relevant mode
P06.44
filtering 0 ～ 500 50 10ns Restart P S T
164
0 ～ 500 (Unit: 10ns)
0 ～ 500 (Unit: 10ns)
250K ~ 500K, the recommended value is 20;
500K ~ 1M, the recommended value is 10;
Overlarge speed deviation Range Default Unit Effective Relevant mode

P06.45
threshold 0 ～ 10000 0 1rpm Immediate P S
Range: 0 ～ 10000rpm
Not to detect when set to a value of 10 or less.
The absolute difference between the speed instruction and the actual measured speed exceeding this range will report
fault Err.16.
Torque saturation timeout Range Default Unit Effective Relevant mode

P06.46
duration 0 ～ 30000 0 1ms Immediate P S T
Range: 6 ～ 30000ms.
If the torque is saturated for a long time and the duration exceeds this range, error Err.17 is reported.
The torque saturation setting value is the value set in P03.09 or P03.10.

P06.47 Absolute system setting
0 ～ 19 0 -- Restart P S T
0 ～ 19
Ones place:
0: Incremental system;
G
1: Absolute system (Err.12 needs manual clearing, industrial robotics special);
• Parameters
2: Absolute system (Err.12 needs manual clearing, industrial robotics special);
3~9: Absolute system with overflow error.
Tens place:
0: Battery undervoltage warning but keep running;
1: Battery undervoltage warning and stop.
Encoder battery Range Default Unit Effective Relevant mode

P06.48
undervoltage threshold 0 ～ 33 30 0.1V Restart P S T
Range: 0.0 ～ 3.3V
When the encoder battery voltage is detected to be lower than this value, it is judged to report a fault or warning accord-
ing to the setting of P06.47.
High-speed pulse input Range Default Unit Effective Relevant mode

P06.49
filtering 0 ～ 500 40 10ns Restart P S T
0 ～ 500 (Unit: 10ns)
250K ～ 500K, the recommended value is 20;
500K ～ 1M, the recommended value is 10;
165
Above 1M, the recommended value is 5;
Above 2M, set to 0.
P07 Auxiliary function

P07.00 Panel display option
0000H ～ FFFFH 0 -- Immediate P S T
Hexadecimal, from right to left:
Digit 1: Display the setting at homepage of panel
0：Status display
When set to 1 to 5, display the parameters set in P07. 01 ～ P07. 05.
Other digits are reserved.
Panel monitoring Range Default Unit Effective Relevant mode

P07.01
parameter setting 1 0 ～ 79 1 -- Immediate P S T
0 ～ 79,
Parameters of group P21 except P21.00 can be displayed directly on the panel. Setting to 0 does not display

P07.02
0 ～ 79, , same as P07_01.

P07.03
G
0 ～ 79, , same as P07_01.
• Parameters
P07.04
0 ～ 79, , same as P07_01.

P07.05
0 ～ 79, , same as P07_01.

P07.08 Function selection 1
Hexadecimal number, from right to left:
Digit 1, the time multiplication of the origin search;
When this value is not zero, the actual time of the time limit value of the homing process is equal to P08.95 multiplied by
this value.
Digit 2, Deviation clearing setting during pulse inhibition:
0, No automatic deviation clearing during pulse inhibition
1, Automatic deviation clearing during pulse inhibition
Digit 3, limit detection method during origin search:
Set to 0, detection by DI functions 14 and 15;
166
Set to 1, detection by hard limit torque limit;
Set to 2, DI function or hard limit torque limit detection.
Digit 4, soft limit detection setting:
Set to 0, no soft limit detection;
Setting to 1, soft limit detection starts at power-on;
Setting to 2, the soft limit is detected only after the return to origin is completed.

Reserved

P07.10 User password
0 ～ 65535
Instant memory storage Range Default Unit Effective Relevant mode

P07.11
during power outage 0～1 0 -- Immediate P S T
0: Disabled
1: Enabled
After turning on, power-down storage stores the following contents:
① Potential load torque compensation value P06.10
② Forward rotation frictional torque compensation P06.12
③ Reverse rotation frictional torque compensation P06.13
G
④ Feedback pulse counter P21.17
⑤ Total power-on time P21.25
• Parameters
(Without being switched on, the value of P21.25 is stored in hours as the unit; with being switched on, the value of P21.25
is stored in milliseconds as the unit.)
⑥ Absolute position encoder turn P21.32
User password screen-lock Range Default Unit Effective Relevant mode

P07.12
time 1 ～ 30 5 1 min Immediate P S T
1 ～ 30 minutes

P07.14 Fast deceleration time
0 ～ 9999 5 1ms Restart P S T
0ms ～ 9999ms

0000H ～ FFFFH 0 -- Restart P S T
Digit 1: Interrupt positioning instruction setting
0： No adjustment with electronic gear;
1： Adjust with electronic gear
Digit 2: Interrupt positioning instruction direction setting
167
0： Follow the current operation direction
1： Decided by instruction sign

P07.17 Resolution
0 ～ 99 0 -- Immediate P
Divide a circle of corresponding pulses into 0 to 99 parts.

Hexadecimal, from right to left,
Digit 1: Reserved
Digit 2: Reserved
Digit 3: Position feedback initialization selection
Non-absolute system (P06. 47 is equal to zero):
0: Initialize to 0
1: Initialize to the value before power-off (power failure storage needs to be enabled, i.e. set P07.11 to 1)
Absolute system (P06. 47 is not equal to zero), decided by encoder value.
Digit 4: Absolute position (P21. 07) and position feedback (P21. 17) counter bit width selection
0： 32-bit counter
1： 64-bit counter
When using a 64-bit counter, a low 32-bit absolute position is displayed in P21. 07 and high 32-bit displays in P21. 56;
G
Low 32-bit position feedback displays in P21. 17 and high 32-bit displays in P21. 58.
• Parameters
Digit 1: Motor type selection
0：Read from encoder;
1：Manual setting；
Digit 2: Software overcurrent detection
0： Enable
1： Disable

Digit 1: servo not ready when enabled
0: No error or alarm
1: AL. 084 is reported
168
2: Er.040 is reported
Digit 2: Fault Er.046, Er.047 reset
0: reset is not allowed;
1: reset is not allowed until 10 seconds after the alarm;
Digit 3: DI DO monitoring display
0: in binary.
1: in hexadecimal
Digit 4: AL.097 reset
0: reset
1: N

Digit 1: Main power off (Err .56) detection setting
0： Err .56 is detected and reset automatically
1： Err .56；Not to detect Err .56
2： Err .56 is detected but cannot reset automatically
Digit 2: Undervoltage (Err .21) detection setting
0： Err .21 is detected and reset automatically
1： Not to detect Err .21.
G
2： Err .21 is detected but cannot reset automatically.
The main circuit undervoltage point is 180V by default and can be set via parameter P06.36.
• Parameters
Digit 3: Error records of Err .21 and Err .56
0： Not to store
1： Store
Digit 4: Control power undervoltage error (Err .18) detection
0： Enable
1： Disable

P07.23 Fault reset timing
0: Y when SON is valid
1: N when SON is valid

P07.24 Positive soft limit (32-bit) -2147483648 ～
2147483647 -- Restart P S T
2147483647
It is valid during forward soft limit, position control, speed control, and torque control modes.
169
P07.26 Negative soft limit (32-bit) -2147483648 ～
-2147483648 -- Restart P S T
2147483647
It is valid during reverse soft limit, position control, speed control, and torque control modes.
Holding time of return Range Default Unit Effective Relevant mode

P07.28 completion signal during
0 ～ 65535 2000 -- Immediate P S T
non-DI return

P07.30 Total number of DB stop
0 ～ 65535 0 -- Restart P S T
P08 Internal position instruction
Multi-segment preset Range Default Unit Effective Relevant mode

P08.00
position execution method 0～5 0 -- Restart P
0: Single operation
1: Cyclic operation
2: DI terminal switching operation
3: Communication switching operation (P20.11 selected segment number)
4: Single continuous operation
5: Cyclic continuous operation
There are a total of 16 segment instructions, and the starting segment serial number is set by P08.01, and the ending seg-
ment serial number is set by P08.02.
G
Set to 0 for single operation, start from the start segment and execute each segment in turn until the end segment;
• Parameters
Set to 1, cyclic operation, start from the start segment, execute each segment in turn until the end segment, and then start
from the start segment again.
This is repeated until the internal position enable signal is disabled or the servo is OFF;
Set to 2 for DI terminal switching operation, the segment serial number to be executed is selected by DI function 6 to 9,
see subsection 4.4.1 of this manual for details;
Set to 3, communication switching operation, which conducts the selection of the segment sequence number via MOUD-
BUS communication for parameter P20.11;
Set to 4 and 5, corresponding to 0 and 1, the difference is that the current segment does not need to decelerate to 0 be-
fore starting the next segment in the transition between the two segments, while each segment of execution mode 0 and 1
needs to decelerate to 0 before starting the next segment.

P08.01 Starting segment number
Range: 1 ～（P08.02）
The two parameters P08.01 and P08.02 constrain each other.

P08.02 Ending segment number
Range:（P08：01）～ 16
170
The two parameters P08.01 and P08.02 constrain each other.
Dealing of residual Range Default Unit Effective Relevant mode

P08.03 segments after pausing
and restarting
0: Run the remaining segments
1: Run from the beginning again

P08.04 Position instruction type
0: Relative position instruction
1: Absolute position instruction

P08.05 Waiting time unit
0: The wait time between sequential execution (single or cyclic) timeslots and segments is measured in ms.
1: Wait time in s between sequential execution (single or cyclic) periods and segments.

The first segment
P08.06 -1073741824 ～
displacement (32-bit) 10000 -- Immediate P
1073741824
A value between -1073741824 and 1073741824 can be set, and a positive setting indicates a positive position instruction,
while a negative setting indicates a negative position instruction.
The first segment Range Default Unit Effective Relevant mode

P08.08
maximum speed 1 ～ 9000 200 1rpm Immediate P
1 ～ 9000rpm
G
The first segment Range Default Unit Effective Relevant mode
• Parameters
P08.09 acceleration/deceleration
0 ～ 65535 10 1ms Immediate P
time
0 ～ 65535ms
Waiting time after the first Range Default Unit Effective Relevant mode
P08.10
segment completed 0 ～ 65535 0 1ms Immediate P
0 ～ 65535ms/s. The specific unit is set by P08.05.

The second segment
P08.11 -1073741824 ～
1073741824
The second segment Range Default Unit Effective Relevant mode

P08.13
1 ～ 9000rpm
The second segment Range Default Unit Effective Relevant mode

time
171
0 ～ 65535ms
Waiting time after Range Default Unit Effective Relevant mode

P08.15 the second segment
completed

The third segment
P08.16 -1073741824 ～
1073741824
The third segment Range Default Unit Effective Relevant mode

P08.18
1 ～ 9000rpm
The third segment Range Default Unit Effective Relevant mode

time
0 ～ 65535ms
Waiting time after the third Range Default Unit Effective Relevant mode
P08.20

The fourth segment
P08.21 -1073741824 ～
G
1073741824
• Parameters
The fourth segment Range Default Unit Effective Relevant mode

P08.23
1 ～ 9000rpm
The fourth segment Range Default Unit Effective Relevant mode

time
0 ～ 65535ms
Waiting time after the Range Default Unit Effective Relevant mode
P08.25
fourth segment completed 0 ～ 65535 0 1ms Immediate P

The fifth segment
P08.26 -1073741824 ～
1073741824
172
The fifth segment Range Default Unit Effective Relevant mode
P08.28
1 ～ 9000rpm
The fifth segment Range Default Unit Effective Relevant mode

time
0 ～ 65535ms
Waiting time after the fifth Range Default Unit Effective Relevant mode
P08.30

The sixth segment
P08.31 -1073741824 ～
1073741824
The sixth segment Range Default Unit Effective Relevant mode

P08.33
1 ～ 9000rpm
The sixth segment Range Default Unit Effective Relevant mode

time
0 ～ 65535ms
G
Waiting time after the sixth Range Default Unit Effective Relevant mode
P08.35
• Parameters

The seventh segment
P08.36 -1073741824 ～
1073741824
The seventh segment Range Default Unit Effective Relevant mode

P08.38
0 ～ 65535ms
Waiting time after Range Default Unit Effective Relevant mode

P08.40 the seventh segment
completed

The eighth segment
P08.41 -1073741824 ～
1073741824
173
The eighth segment Range Default Unit Effective Relevant mode

P08.43
1 ～ 9000rpm
The eighth segment Range Default Unit Effective Relevant mode

time
0 ～ 65535ms
P08.45
eighth segment completed 0 ～ 65535 0 1ms Immediate P

The ninth segment
P08.46 -1073741824 ～
1073741824
The ninth segment Range Default Unit Effective Relevant mode

P08.48
1 ～ 9000rpm
The ninth segment Range Default Unit Effective Relevant mode

G
time
0 ～ 65535ms
• Parameters
P08.50
ninth segment completed 0 ～ 65535 0 1ms Immediate P

The 10th segment
P08.51 -1073741824 ～
1073741824
The 10th segment Range Default Unit Effective Relevant mode

P08.53
1 ～ 9000rpm

time
0 ～ 65535ms
174
Waiting time after the 10th Range Default Unit Effective Relevant mode
P08.55

The 11th segment
P08.56 -1073741824 ～
1073741824

P08.58
1 ～ 9000rpm

time
0 ～ 65535ms
P08.60

The 12th segment
P08.61 -1073741824 ～
1073741824
G
• Parameters
P08.63
1 ～ 9000rpm

time
0 ～ 65535ms
P08.65

The 13th segment
P08.66 -1073741824 ～
1073741824

P08.68
175
1 ～ 9000rpm

time
0 ～ 65535ms
P08.70

The 14th segment
P08.71 -1073741824 ～
1073741824

P08.73
1 ～ 9000rpm

time
0 ～ 65535ms
P08.75
G
• Parameters
The 15th segment
P08.76 -1073741824 ～
1073741824

P08.78
1 ～ 9000rpm

time
0 ～ 65535ms
P08.80
176
The 16th segment
P08.81 -1073741824 ～
1073741824

P08.83
1 ～ 9000rpm

time
0 ～ 65535ms
P08.85
Position instruction Range Default Unit Effective Relevant mode

P08.86
interrupt execution setting 0～4 0 -- Restart P
0: Disable the function of robbing execution;
1: Enable, interrupt at the rising edge of the DI signal, and automatically release the interrupt lock state after completion;
2: Enable, interrupt at the rising edge of the DI signal, and release the interrupt lock state by DI signal INTP_ULK after com-
pletion;
3: Enable, interrupt at the falling edge of the DI signal, and automatically release the interrupt lock state after completion;
G
4: Enable, interrupt at the falling edge of the DI signal, and release the interrupt lock state by DI signal INTP_ULK after
• Parameters
completion.

P08.88 Homing start method
0: Disable
1: Enable by DI function STHOME
2: Enable by key (panel keys make P20.12=1)
3: Enable by communication (communication control P20.12=1)
4: Enable immediately after powering on the servo ON for the first time

P08.89 Homing mode
0: Forward rotation to search for the origin, with the positive limit as the origin
1: Reverse rotation to search for the origin, with the negative limit as the origin
2: Forward rotation to search for the origin, with the HOME_IN signal OFF → ON as the origin
3: Reverse rotation to search for the origin, with the HOME_IN signal OFF → ON as the origin
4：Forward rotation to search for the origin, with the HOME_IN signal ON → OFF as the origin
5：Reverse rotation to search for the origin, with the HOME_IN signal ON → OFF as the origin
177
6：Forward rotation to directly search for the nearest Z signal as the origin
7：Reverse rotation to directly search for the nearest Z signal as the origin
8：Directly use the current position as the origin
Limit switch and z-phase Range Default Unit Effective Relevant mode
P08.90
signal setting when homing 0～5 2 -- Restart P
The meaning of the set values is as follows:
0: Homing mode 0 ～ 1: When the other side of the limit is encountered, it will stop and alarm (AL.096), and return to find
the Z signal.
Homing mode 2 ～ 5: When the limit position is encountered, it will automatically return to the reverse direction to find the
Z signal.
Homing mode 6 ～ 7: When the limit position is encountered, it will automatically return to the reverse direction and go
forward to search for the Z signal.
the Z signal.
Homing mode 2 ～ 5: When the limit position is encountered, it will automatically return to the reverse direction to find the
Z signal.
Homing mode 6 ～ 7: When the limit position is encountered, it will directly go forward to search for the Z signal.
2: Homing mode 0 ～ 1: When the other side of the limit is encountered, it will stop and alarm (AL.096), and not find the Z
signal.
Homing mode 2 ～ 5: When the limit position is encountered, it will automatically return to the reverse direction and not
find the Z signal.
Homing mode 6 ～ 7: When the limit position is encountered, it will automatically return to the reverse direction and go
forward to search for the Z signal.
G
• Parameters
the Z signal.
Homing mode 2 ～ 5: When the limit position is encountered, it will stop and alarm and return to find the Z signal.
Homing mode 6 ～ 7: When the limit position is encountered, it will stop and alarm and go forward to search for the Z sig-
nal.
the Z signal.
nal.
nal.
5: Homing mode 0 ～ 1: When the other side of the limit is encountered, it will stop and alarm and not find the Z signal.
Homing mode 2 ～ 5: When the limit position is encountered, it will stop and alarm and not find the Z signal.
nal.

P08.92 Origin search high speed
1 ～ 3000 500 1rpm Immediate P
1 ～ 3000rpm。
178
After the homing process is started, the search for the origin begins at this speed unless a deceleration signal or an origin
position signal is already present at the start.

P08.93 Origin search low speed
1 ～ 300 50 1rpm Immediate P
1 ～ 300rpm。
When searching for the origin, switch to a low-speed search after encountering a deceleration point, or after encountering
the origin position.
Acceleration/deceleration Range Default Unit Effective Relevant mode

P08.94 time during origin
searching
1 ～ 10000ms

P08.95 Homing time limit
1 ～ 65535 60000 1ms Immediate P
1 ～ 65535ms。
Set the limit time for the origin return process, if the origin is not searched after this time, the search for the origin is
stopped and the alarm AL.96 will occur. If the limit time set here is still not enough, the multiplication of the limit time can be
set by the 1st digit from the right of P07.08. When digit 1 from the right of P07.08 is not 0, the actual limit time is the product
of this value, and digit 1 from the right of P07.08.

P08.96 Origin offset (32-bit) -1073741824 ～
0 -- Immediate P
1073741824
Range: -1073741824 ～ 1073741824
It is used to adjust the value of the origin coordinates. The value displayed at P21.07 after the completion of a normal
G
homing is the value of P08.96, which does not affect the value of P21.34 after the homing process (i.e., it does not affect the
• Parameters
actual position of homing).

Mechanical origin offset
P08.98 -1073741824 ～
(32-bit) 0 -- Immediate P
1073741824
Range: -1073741824 ～ 1073741824
It is used to move a distance after the origin position has been found. The offset unit is the instruction unit (when the gear
ratio is 10000 and P08.98 is 5000, there is a half-turn positive offset ), the offset speed is P08.92 (high-speed search speed of
origin), and the homing completion signal is output only after the offset is completed.
P09 Communication setting

P09.00 Servo axis address number
1 ～ 247
It is used for communication and supports Modbus, CANOpen, and so on.

P09.01 Modbus baud rate
The supported baud rates and for settings are as follows:
179
0：2400
1：4800
2：9600
3：19200
4：38400
5：57600
6：115200

P09.02 Modbus data format
0：No parity, 2 stop bit
1：Even, 1 stop bit
2：Odd, 1 stop bit
3：No parity, 1 stop bit

P09.03 Communication timeout
Monitor the communication busbar for data for a set period of time
Communication response Range Default Unit Effective Relevant mode

P09.04
delay 0 ～ 9999 0 1ms Immediate P S T
Respond after delaying for a set period of time after receiving data
Communication DI Range Default Unit Effective Relevant mode

P09.05
enabling setting 1 0000H ～ FFFFH 0 -- Restart P S T
G
This parameter is displayed in hexadecimal form on the panel, where each binary bit indicates a DI function, BIT0 ～ BIT15
• Parameters
corresponds to DI functions 1 ～ 15 respectively. The value of the binary bit indicates whether to enable the communication
control of the corresponding DI function:
0: Not enabled;
1: enabled
Refer to section 5.5.3 of this manual for detailed instructions.

P09.06
0: Not enabled;
1: enabled

P09.07
180
0: Not enabled;
1: enabled

P09.08
0: Not enabled;
1: enabled
Communication DO Range Default Unit Effective Relevant mode

P09.09
This parameter is displayed in hexadecimal form on the panel, where each binary bit indicates a DO function, BIT0 ～ BIT15
corresponds to DO functions 1 ～ 15 respectively. The value of the binary bit indicates whether to enable the communication
control of the corresponding DO function:
0: Not enabled;
1: enabled
Communication DO Range Default Unit Effective Relevant mode

P09.10
G
This parameter is displayed in hexadecimal form on the panel, where each binary bit indicates a DO function, BIT0 ～ BIT15
• Parameters
corresponds to DO functions 16 ～ 31 respectively. The value of the binary bit indicates whether to enable the communication
control of the corresponding DO function:
0: Not enabled;
1: enabled
Communication instruction Range Default Unit Effective Relevant mode

P09.11
holding time 0 ～ 60 5 -- Immediate P S T
The time to maintain the original state when communication is disconnected after the command value is written to the
communication can be set from 0 to 60 in seconds. Set to 0 means 0.5 seconds.
P17 Expansion position control function

P17.00 External encoder usage
0: No external encoder is used for position feedback
1：When using external encoder as position feedback, the external encoder count is increased when the motor direction
is CCW.
181
2：External encoder is used as position feedback, the external encoder count is increased when the motor direction is CW.
External encoder pitch Range Default Unit Effective Relevant mode

P17.01
(32-bit) 0 ～ 1073741824 10000 -- Restart P
Set the number of feedback pulses from the external encoder for one revolution of the motor:
0 ～ 1073741824
Full-closed mixed deviation Range Default Unit Effective Relevant mode

P17.03
threshold(32-bit) 0 ～ 1073741824 0 -- Immediate P
0 ～ 1073741824
Mixed deviation counting Range Default Unit Effective Relevant mode

P17.05
setting 0 ～ 100 0 0.01 Restart P
0 ～ 100%
Mixed vibration Range Default Unit Effective Relevant mode

P17.06
suppression gain 0 ～ 30000 400 0.1/s Immediate P
1.0 ～ 3000.0 /s
Mixed vibration Range Default Unit Effective Relevant mode

P17.07
suppression time constant 0 ～ 30000 0 0.1ms Immediate P
0.0 ～ 3000.0ms
External units for full Range Default Unit Effective Relevant mode
P17.09 closed loop mixed -1073741824 ～
0 -- Display only P
deviation (32-bit) 1073741824
-1073741824 ～ 1073741824
G
External units for internal Range Default Unit Effective Relevant mode
• Parameters
P17.11 encoder count value (32- -1073741824 ～
0 -- Display only P
bit) 1073741824
-1073741824 ～ 1073741824

External encoder count
P17.13 -1073741824 ～
value (32-bit) 0 -- Display only P
1073741824
-1073741824 ～ 1073741824
Position comparison Range Default Unit Effective Relevant mode

P17.16
output mode 0～3 0 -- Restart P
Range: 0 ～ 3，
0：Disable
1：Forward trigger，
2：Reverse trigger，
3：Bi-directional trigger

P17.17 The first position (32-bit) -1073741824 ～
0 -- Immediate P
1073741824
182
-1073741824 ～ 1073741824
The value set by this parameter is output in comparison with the value of P21.07.

The second position (32-
P17.19 -1073741824 ～
bit) 0 -- Immediate P
1073741824
-1073741824 ～ 1073741824

P17.21 The third position (32-bit) -1073741824 ～
0 -- Immediate P
1073741824
-1073741824 ～ 1073741824

The fourth position (32-
P17.23 -1073741824 ～
bit) 0 -- Immediate P
1073741824
-1073741824 ～ 1073741824

P17.25 Signal effective time 1
After the 1st position is reached, the effective signal is output from 0 to 65535ms.

G
• Parameters


P17.29 Display delay
0 ～ 65535ms
P18 Motor model

P18.00 Motor model code (32-bit) 00000000H ～
1964114433 -- Restart P S T
7FFFFFFFH
The motor model code is an 8-digit hexadecimal mechanism number, for example, the code of the motor model is
self-identified as 75122101, and each digit indicates the meaning as follows:
183
G
P20 Key and communication control interface
• Parameters
P20.00 Key JOG trial
0 ～ 2000 0 rpm Restart P S T
0 ～ Rated speed of motor

P20.01 Fault reset
0: No reset
1: Reset

P20.02 Communication parameter
0 ～ 65535 0 -- Restart P S T
0：65535

P20.03
function 0～5 0 -- Restart P S T
0: No operation
1: Forward-rotation inertia identification
2: Reverse-rotation inertia identification
3: Reserved
184
4: Reserved
5: Encoder initial angle identification
Analog input automatic Range Default Unit Effective Relevant mode

P20.05
offset adjustment 0～2 0 -- Restart P S T
0: No operation
1 ～ 2: AI1 ～ AI2 adjustment
System initialization Range Default Unit Effective Relevant mode

P20.06
function 0 ～ 99 0 -- Restart P S T
0: No operation
1: Restore factory defaults
2: Clear fault records
7: Absolute encoder reset
Other values are reserved.
Communication operation Range Default Unit Effective Relevant mode

P20.08
instruction input 0 ～ 65535 0 -- Immediate P S T
0: No operation or stop operation
1~3000: JOG speed, unit is rpm
1102H: Communication forward JOG
1103H: Communication reverse JOG
1300H: Forward-rotation inertia identification
G
1301H: Reverse-rotation inertia identification
1302H: Store inertia identification values
• Parameters
1500H: Encoder initial angle identification
Communication operation Range Default Unit Effective Relevant mode

P20.09
status output 0 ～ 65535 0 -- Display only P S T
0 ～ 65535
For communication reading
0: identification in progress
1: identification fault
2: identification completed
3: identification value stored
Communication selection Range Default Unit Effective Relevant mode

of multi-segment
P20.11
instruction sequence 0 ～ 16 0 -- Immediate P S
numbers
0 ～ 16
Communication starting Range Default Unit Effective Relevant mode

P20.12
homing 0～9 0 -- Immediate P
185
0: No operation
1: Start homing
P21 Status parameters

P21.00 Servo status
0 ～ 65535 0 -- Display only P S T
Real-time display of the status of the drive.
The following signs are available: rdy, run, Err.00 to 99 (fault), AL.00 to 99 (warning).

P21.01 Motor speed feedback
-9000 ～ 9000 0 1rpm Display only P S T
Real-time display of the status of the drive.
The following signs are available: rdy, run, Err.00 to 99 (fault), AL.00 to 99 (warning).

P21.01 Motor speed feedback
Real-time display of motor speed. Unit is 1rpm.

P21.03 Speed instruction
Real-time display of current speed instructions. Unit is rpm.
Internal torque instruction Range Default Unit Effective Relevant mode

P21.04
(relative to rated torque) -5000 ～ 5000 0 0.1% Display only P S T
G
Real-time display of the internal torque instruction. Unit is 0.1%, i.e. the percentage corresponding to the rated torque.
• Parameters
Phase current effective Range Default Unit Effective Relevant mode
P21.05
value 0 ～ 65535 0 0.01A Display only P S T
Real-time display of U-phase current RMS value. Unit is 0.01A.

P21.06 DC busbar voltage
0 ～ 65535 0 0.1V Display only P S T
Real-time display of the busbar voltage value. Unit is 0.1V.

Absolute position counter
P21.07 -1073741824 ～
(32-bit) 0 1Unit Display only P S T
1073741824
Real-time display of the absolute position accumulated value. Unit is the instruction unit.
The range of the displayed value is: -1073741824 ～ 1073741824.

P21.09 Electrical angle
0 ～ 65535 0 0.1 degree Display only P S T
Real-time display of electrical angle values
The range of the displayed value is: 0.0 to 360.0 degrees.
Mechanical angle (relative Range Default Unit Effective Relevant mode

P21.10
to encoder zero point) 0 ～ 65535 0 0.1 degree Display only P S T
186
Real-time display of the angle value of the motor's rotary axis
0.0 to 360.0 degrees
Load inertia identification Range Default Unit Effective Relevant mode

P21.11
value 0 ～ 65535 0 0.01 ㎏ c ㎡ Display only P S T
Real-time display of inertia value recognized online.
The range is 0.01 ㎏ c ㎡～ 655.35 ㎏ c ㎡ .
Speed value relative to Range Default Unit Effective Relevant mode

P21.12
input instruction -9000 ～ 9000 0 1rpm Display only P S T
Real-time display of the speed value corresponding to the input position instruction. Unit is rpm.

Position deviation counter
P21.13 -1073741824 ～
(32-bit) 0 1P Display only P S T
1073741824
Real-time display of the position deviation value. Unit is the minimum resolution of the encoder.
The range of the displayed value is: -1073741824 to 1073741824.

Input pulse counter (32-
P21.15 -1073741824 ～
bit) 0 1Unit Display only P S T
1073741824
Real-time display of the total number of input instruction pulses. Unit is the instruction unit.

Feedback pulse counter
P21.17 -1073741824 ～
(32-bit) 0 1P Display only P S T
G
1073741824
Real-time display of the accumulated value of the position feedback. Unit is the minimum resolution of the encoder.
• Parameters

Position deviation counter
P21.19 -1073741824 ～
instruction unit (32-bit) 0 1Unit Display only P S T
1073741824
Real-time display of position deviation. Unit is the instruction unit.
Digital input signal Range Default Unit Effective Relevant mode

P21.21
monitoring 0 ～ 255 0 -- Display only P S T
Real-time display of the status of DI1 to DI8 on the panel.
If the third bit from the right of P07.21 is 0, when the DI interface is high level, the digital tube displays the upper half, and
when it is low level, the lower half is displayed, and the sequence from right to left is DI1 to DI8.
If the third bit from the right of P07.21 is 1, when the DI interface is high level, it is represented by a binary 1, and when it is
low level, it is represented by a binary 0. Binary bits BIT0 to BIT8 are used for DI1 to DI8, respectively.

P21.22 Inertia identification value
Reserved
Digital output signal Range Default Unit Effective Relevant mode

P21.23
monitoring 0 ～ 31 0 -- Display only P S T
187
Real-time display of the status of DO1 to DO5 on the panel.
If the third bit from the right of P07.21 is 0, when the DO interface is high level, the digital tube displays the upper half, and
when it is low level, the lower half is displayed, and the sequence from right to left is DO1 to DO5.
If the third bit from the right of P07.21 is 1, when the DI interface is high level, it is represented by a binary 1, and when it is
low level, it is represented by a binary 0. Binary bits BIT0 to BIT8 are used for DO1 to DO5 respectively.

P21.24 Encoder status
Reserved
Total power-on time (32- Range Default Unit Effective Relevant mode
P21.25
bit) 0 ～ 2147483647 0 0.1s Display only P S T
Real-time display of the drive's cumulative total power-up time value.
The range of displayed values is: 0.0:214748364.7s
AI1 voltage after Range Default Unit Effective Relevant mode

P21.27
adjustment -32768 ～ 32767 0 1mV Display only P S T
Real-time display of the voltage value of AI1, which has been calibrated.
AI2 voltage after Range Default Unit Effective Relevant mode

P21.28
Real-time display of the voltage value of AI2, which has been calibrated.
AI1 voltage before Range Default Unit Effective Relevant mode

P21.29
Real-time display of the original voltage value of AI1, which has not yet been corrected for processing.
G
AI2 voltage before Range Default Unit Effective Relevant mode
P21.30
• Parameters
Real-time display of the original voltage value of AI2, which has not yet been corrected for processing.

P21.31 Module temperature
0 ～ 65535 0 1° C Display only P S T
Real-time display of module temperature value.

Number of turns of
P21.32 -1073741824 ～
absolute encoder (32-bit) 0 -- Display only P S T
1073741824
Record the number of revolutions made in absolute position.

Single turn position of
P21.34 -1073741824 ～
absolute encoder (32-bit) 0 P Display only P S T
1073741824
Record the number of encoder pulses for less than one revolution in absolute position.

P21.36 Version code 1
0 ～ 65535 0 0.01 Display only P S T
Display software version number.
188


P21.39 Product series code
PP.XXX

P21.40 Fault record display
It can be set to 0 to 9 to view 10 times fault records. When there is a current fault, set it to 0 to display the current fault re-
cord; when there is no current fault, display the last 10 times fault record.
0: current fault type
1: Previous 1 time fault
2: Previous 2 times fault
......
9: Previous 9 times faults

P21.41 Fault code
Fault codes, for the meaning of the corresponding values, please refer to the Error and alarm code list.
G
Time stamp upon selected Range Default Unit Effective Relevant mode
P21.42
• Parameters
fault (32-bit) 0 ～ 2147483647 0 0.1s Display only P S T
The total power-up time accumulated when a fault occurs.
Current rotation speed of Range Default Unit Effective Relevant mode

P21.44
the selected fault -9000 ～ 9000 0 1rpm Display only P S T
Motor speed when a fault occurs.
U-phase current of the Range Default Unit Effective Relevant mode

P21.45
selected fault 0 ～ 65535 0 0.01A Display only P S T
The effective value of the U-phase current when a fault occurs.
Busbar voltage of the Range Default Unit Effective Relevant mode

P21.47
selected fault 0 ～ 65535 0 0.1V Display only P S T
The value of the bus voltage when a fault occurs.
Input terminal state of the Range Default Unit Effective Relevant mode
P21.48
selected fault 0 ～ 511 0 -- Display only P S T
The status of DI1 to DI9 when a fault occurs. When the current DI interface is high level, the digital tube displays the upper
half, and when it is low, the lower half is displayed.
Output terminal state of Range Default Unit Effective Relevant mode

P21.49
the selected fault 0 ～ 511 0 -- Display only P S T
189
The status of DO1 to DO9 when a fault occurs. When the current DI interface is high level, the digital tube displays the up-
per half, and when it is low level, it displays the lower half.
Customized software Range Default Unit Effective Relevant mode

P21.50
version number 0 ～ 65535 0 0.01 Display only P S T
Customized software version number

P21.51 Load ratio
0 ～ 500 0 1% Display only P S T

P21.52 Regenerative load ratio
0 ～ 500 0 1% Display only P S T

P21.53 Internal warning code
Current segment number Range Default Unit Effective Relevant mode

P21.54
of internal instruction 0 ～ 99 0 -- Display only P S T

P21.55 Customized serial code
Customized version series number

Absolute position counter
P21.56 -1073741824 ～
high 32 bits (32-bit) 0 1Unit Display only P S T
1073741824
When bit 4 of P07.19 is 1, the absolute position is a 64-bit count, and it is shown here as the high 32 bits. Unit is the in-
struction unit.
G
Feedback pulse counter
P21.58 -1073741824 ～
• Parameters
high 32 bits (32-bit) 0 1Unit Display only P S T
1073741824
When bit 4 of P07.19 is 1, the feedback pulse is a 64-bit count, and it is shown here as the high 32 bits. Unit is the instruc-
tion unit.
Digital input (DI) function definition table
Setting value Symbol Name Description

Invalid- Disable servo motor enable
1 S_ON Servo enable
Valid- Enable servo motor power-up
According to the type of alarm, the servo motor is able to
continue to work after alarm reset.
2 ERR_RST Alarm reset signal This function is along the effective level, when the set terminal
is level effective, and also only effective when the edge changes
are detected.
Proportional action switching/gain Invalid - Speed control loop is controlled by PI
3 GAIN_SEL
switching Valid - Speed control loop is controlled by P
Invalid-Currently running instruction is A
4 CMD_SEL Torque instruction source switching
Valid-Currently running instruction is B
Invalid-No action
5 PERR_CLR Pulse deviation clear
Valid-Clear pulse deviation
190
6 MI_SEL1 Switching 16 operation instructions
7 MI_SEL2 Switching 16 operation instructions Execute 16 position instructions or speed instructions by
8 MI_SEL3 Switching 16 operation instructions selecting them via DI terminal。

9 MI_SEL4 Switching 16 operation instructions
Switch between speed, position, and torque according to the
10 MODE_SEL Switching 16 operation instructions
selected control mode (3, 4, 5).
Valid-Enables the zero fixing function
12 ZERO_SPD Zero speed clamp function
Invalid - Disable the zero position fixing function
Valid-Disable instruction pulse input
13 INHIBIT Pulse inhibit
Invalid-Allow instruction pulse input
When the mechanical movement exceeds the movable range
limit switch action, enter the overtravel protection function.
14 P_OT Positive overtravel
Valid-Positive overtravel, prohibit forward drive
Invalid-Normal range, allow positive drive
When the mechanical movement exceeds the movable range
limit switch action, enter the overtravel protection function.
15 N_OT Negative overtravel
Valid-Negative overtravel, prohibit forward drive
Invalid-Normal range, allow positive drive
Valid - External torque limit is valid
16 P_CL Positive external torque limit
Invalid - External torque limit is not valid
Valid - External torque limit is valid
17 N_CL Negative external torque limit
Invalid - External torque limit is not valid
Valid - Input according to the set instruction
18 P_JOG Positive JOG
Invalid - Stop input of the running instruction
Valid – Reverse input according to the set instruction
19 N_JOG Negative JOG
Invalid - Stop input of the running instruction
20 GEAR_SEL1 Electronic gear selection GEAR_SEL1 is invalid, GEAR_SEL2 is invalid-electronic gear 1
G
GEAR_SEL1 is valid, GEAR_SEL2 is invalid- electronic gear 2
• Parameters
21 GEAR_SEL2 Electronic gear selection GEAR_SEL1 is invalid, GEAR_SEL2 is valid-electronic gear 3
GEAR_SEL1 is valid, GEAR_SEL2 is valid- electronic gear 4
Invalid - Not to reverse
22 POS_DIR Reverse position instruction
Valid - Reverse
23 SPD_DIR Reverse speed instruction
Valid - Reverse
24 TOQ_DIR Reverse torque instruction
Valid - Reverse
Internal multi-segment position Invalid-Ignore internal multi-segment instructions
25 PSEC_EN
enable signal Valid-Enable internal multi-segment instructions
Invalid-No effect
Release the interrupt positioning
26 INTP_ULK Valid - When parameter P08.86 is set to 2 or 4, the position
lock
instruction interrupt execution lock status is released.
Invalid - no effect
Disable the execution of interrupt Valid-When parameter P08.86 is not set to 0, DI can be used to
27 INTP_OFF
positioning. disable the execution of the interrupt positioning function at any
time after the interrupt execution function is enabled.
28 HOME_IN Origin position signal Available as an origin or deceleration position signal
29 STHOME Enable homing process Start homing process
Invalid - No effect
30 ESTOP Emergency stop
Valid - Enter emergency stop
191
Valid-Execute the step amount instruction
31 STEP Position step enable
Invalid-Instruction is zero as the positioning status
Invalid - No effect
32 FORCE_ERR Forced fault protection input
Valid - Enter fault status
Invalid - No effect
Interrupt positioning execution Valid - When the value of parameter P08.86 is not 0, the position
34 INTP_TRIG
trigger signal instruction is triggered to interrupt the execution process, which
can only be configured to DI8 and DI9.
Invalid - No effect
Halt generation of internal position
35 INPOSHALT Effective-Decelerate and halt execution of internal multi-stage
instructions
positional and interrupt positioning
Invalid - No effect
36 ANALOG_OFF Disable analog input
Valid: Analog input is disabled
Invalid - No effect
SEN enable absolute position data
37 ENC_SEN Valid - OAOBOZ sends absolute position data, servo cannot be
transmission
enabled at this time.
Invalid - No effect
38 ENC_ZDETEC Encoder Z-phase detection input
Valid: Encoder Z-phase detection input
Invalid - No effect
39 EXTIN_LATCH1 External latch input 1
Valid-External latch input 1
Invalid - No effect
40 EXTIN_LATCH2 External latch input 2
Valid-External latch input 1
Digital input (DI) function definition table
Setting value Symbol Name Description
G
The servo state is ready to receive the S_ON valid signal.
1 S_RDY Servo ready Valid-Servo ready
• Parameters
Invalid - Servo not ready
2 S_ERR Fault output signal Valid when a fault is detected
3 S_WARN Warning output signal Warning output signal active (on)
Servo motor rotation speed is above the speed threshold value.
4 TGON Motor rotation output signal Valid-Motor rotation signal is valid
Invalid - Motor rotation signal is invalid
The signal output when the servo motor stops rotating.
5 V_ZERO Zero speed signal Valid-Motor speed is zero
Invalid-Motor speed is not zero
For speed control, the absolute value of the difference between
6 V_CMP Speed conformity the servomotor speed and the speed instruction is valid if it is
less than the P04.44 speed deviation setting value.
In position control, the position deviation pulse is valid when it
7 COIN Position completion
reaches within the positioning completion amplitude P04.47.
In position control, the position deviation pulse is valid when
8 NEAR Position near signal it reaches the setting value of the positioning approach signal
amplitude P04.50.
Signal to confirm torque limit
Valid - Motor torque is limited
9 T_LT Torque limit signal
Invalid - Motor torque is not limited
192
Signal to confirm speed limit during torque control
Valid - Motor speed is limited
10 V_LT Speed limit signal
Invalid - Motor speed is not limited
Brake release signal output:

11 BKOFF Brake release signal output Valid - Release the brake, the motor shaft is free
Invalid - Resume the brake, the motor shaft is locked
The output signal is valid when the torque instruction value
12 T_ARR Torque specified range arrival reaches the value set in P04.55, and the permissible variation
range is determined by P04.56.
The output signal is valid when the speed feedback value reaches
Speed feedback specified range
13 V_ARR the value set in P04.45, and a variation range of +/-10rpm is
arrival
allowed.
15 INTP_DONE Interrupt positioning completion Output after position instruction interrupt is completed.
External relay or contactor and current limiting resistor are
16 DB_OUT Dynamic braking output
required.
17 HOME Homing completion
Interrupt positioning being

18 INTP_WORK Interrupt positioning is being executed.
executed
Position 1 comparison trigger Trigger signal is output when the position 1 reaches the
19 PCOM1
signal corresponding range.
Position 2 comparison trigger Trigger signal is output when position 2 reaches the
20 PCOM2
21 PCOM3
G
22 PCOM4
23 HALTING Pause in effect Servo is halted.
• Parameters
193
Chapter 8 Errors & alarms and troubleshoot-
ing
8.1 Error and alarm code list..............................................................................................................195
8.2 Error and alarm causes and handling measures....................................................................197

8.1 Error and alarm code list
Error code Name Stop mode Reset (Y/N) Record memory (Y/N)
Err.001 Abnormal system parameter Stop immediately N N
Err.002 Product model selection fault Stop immediately N N
Err.003 Parameter storage fault Stop immediately N N
Err.004 FPGA fault Stop immediately N N
Err.005 Product matching fault Stop immediately N N
Err.006 Program error Stop immediately N N
Err.007 Encoder initialization failure Stop immediately N Y
Err.008 Short circuit to ground detection fault Stop immediately N Y
Err.009 Over-current fault A Stop immediately N Y
Err.010 Hardware initialization fault Stop immediately Y Y
Err.011 Program execution error Stop immediately Y Y
Err.012 Abnormal absolute encoder turns Stop immediately N Y
Err.013 Abnormal encoder communication Configurable N Y
Err.014 Abnormal encoder data Configurable N Y

Abnormal under-voltage of encoder
Err.015 Stop immediately N Y
battery
Err.016 Overlarge speed deviation Configurable Y Y
Err.017 Torque saturation timeout Configurable Y Y
Err.018 Control power under-voltage Configurable Y Y
Err.019 Tripping Configurable Y Y
Err.020 Over-voltage Stop immediately Y Y
Err.021 Under-voltage s Y Default N, optional
Err.022 Current sampling fault Stop immediately Y Y
Err.023 Overlarge AI sampling voltage Stop immediately Y Y
H
Err.024 Over-speed Stop immediately Y Y
• Errors & alarms and troubleshooting

Err.025 Electric angle identification failure Stop immediately Y N
Err.026 Inertia identification failure Stop immediately Y N
Err.027 DI terminal parameter setting fault Stop immediately Y N
Err.028 DO terminal parameter setting fault Stop immediately Y N
Err.029 Over-current fault B Configurable Y Y
Err.030 Overlarge gantry mixed deviation Stop immediately Y Y

Gantry synchronization feedback abnor-
Err.031 Stop immediately Y Y
mality
Err.032 External encoder disconnection Stop immediately Y Y
Err.033 Abnormal external encoder communication Configurable Y Y

Gantry synchronization and full closed loop
Err.034 Stop immediately Y N
parameter error
Err.039 EEPROM checksum word error Stop immediately Y Y
Err.040 Invalid servo ON instruction fault Configurable Y N
Err.042 Over-speed pulse division output Configurable Y Y
Err.043 Overlarge position deviation Configurable Y Y
195
Err.044 Main circuit input phase loss Configurable Y Y
Err.045 Drive output phase loss Configurable Y Y
Err.046 Overloaded drive Stop immediately Y Y
Err.047 Overloaded motor Stop immediately Y Y
Err.048 Electronic gear setting error Configurable Y N
Err.049 Overheated heat spreader Configurable Y Y
Err.050 Abnormal pulse input Configurable Y Y
Err.051 Overlarge full-loop position deviation Configurable Y Y
Err.054 User forced fault Decelerate to stop Y Y
Err.055 Absolute position resetting fault Configurable Y Y
Err.056 Main circuit power outage Decelerate to stop Y Default N, optional
Err.057 Overloaded DB brake Configurable Y Y
Err.059 Drive model identification failure Stop immediately N N

The first start after writing customized
Err.060 Stop immediately N N
software
Err.065 CAN BUS OFF Configurable Y Y
Err.066 Abnormal NMT command Configurable Y Y
Err.067 CAN BUS fault Decelerate to stop Y Y
Err.068 External overspeed (reserved) Stop immediately Y Y
Err.069 Overlarge mixed deviation Configurable Y Y
Err.071 Node protection or heartbeat timeout Configurable Y Y
Err.072 Synchronization invalidation Configurable Y Y
Err.073 CANOpen trace buffer underflow Configurable Y Y
Err.074 CANOpen trace buffer overflow Configurable Y Y
AL.080 Under-voltage alarm No stop Y N
AL.081 Overloaded drive alarm No stop Y Y
AL.082 Overloaded motor alarm No stop Y Y
H
Modification of parameters that need
AL.083 No stop Y N

power restart
AL.084 Servo not ready No stop Y N
AL.085 E2PROM writing frequency alarm No stop Y N
AL.086 Positive over-travel alarm No stop Y N
AL.087 Negative over-travel alarm No stop Y N
AL.088 Position instruction over-speed No stop Y N
AL.090 Absolute encoder angle initialization alarm No stop Y Y
AL.093 Overloaded energy consumption brake No stop Y Y
AL.094 Over-small external regenerative resistor No stop Y N
AL.095 Emergency stop Decelerate to stop Y N
AL.096 Homing error Decelerate to stop Y N
AL.097 Encoder battery under-voltage No stop Y N
AL.098 Unfinished AD sampling No stop Y N
196
8.2 Error and alarm causes and handling measures
Error code and
Cause Handling measure
name
1. Instantaneous decrease in power voltage； 1. Ensure the power voltage is within the specified range. Restore the
Err.001：
2. The range of some parameters has been parameters (P20.06 set to 1);
Abnormal system
changed after software updates, which makes the 2. Please restore the parameters first if the software has been
parameter
stored parameters exceed set ranges. upgraded.
Err.002： 1. The connecting cable of the encoder is damaged
1. Check if the encoder cable is normal and fasten the cable;
Product model or loose;
2. Replace the faulty motor or drive with a valid one.
selection fault 2. Invalid drive or motor model.
1. Check if the modification or writing EEPROM of the host device
1. Over-frequent parameter reading/writing; communication is too frequent. Check if there is an instruction for
Err.003：
2. The equipment for parameter storage is faulty; frequent parameter modification and EEPROM writing in the com-
Parameter storage
3. Power supply is unstable; munication program.
fault
4. Faulty drive. 2. Check the control circuit power cable and ensure the control
circuit power voltage is within the specified range.
Err.004：
Abnormal software version Check if software version is matching.
FPGA fault
1. The connecting cable of the encoder is damaged
or loose; 1. Check the connection of the encoder cable ;
Err.005：
2. Use a three-party external port such as an 2. Replace the mismatching product with a matching one;
Product matching
encoder, which is not matched with the equipment; 3. Choose a matching encoder type or replace other types of drives.
fault
3. The power of the motor and drive are mis- For example, the error alarm will be reported when choosing a
matched with each other; motor, whose power is higher or two-level lower than that of a drive.
4. Product model number doesn't exist.
Err.006： 1、Abnormal system parameter； EEPROM fault, set P20.06 to1 to initialize system parameters and
Program error 2. Internal fault of drive. reconnect to the power supply.
Err.007：
Abnormal encoder signal detected during pow-
Encoder initializa- Check the encoder wiring, or replace the encoder cable.
er-on.
tion failure
H
Err.008： 1. Check if UVW is short-circuited to ground. If so, then replace the
1. UVW wiring fault;
Short circuit to cable;

2. Motor damages;
ground detection 2. Check if the motor cable or grounding resistor is abnormal. If so,
3. Faulty drive.
fault then replace the motor.
1. Check instruction input time sequence and input instruction after
the servo connects with "o_rdy";
2. Check if the braking resistor meets specifications. If not, then
1. The instruction input is synchronized with servo
replace it with a matching resistor according to the manual;
connection or is too fast.
3. Check if the encoder cable is normal and fasten the connector;
2. The external braking resistor is too small or
4. Check the insulation resistance between the motor UVW wire and
short-circuited;
the motor ground wire. When insulation is faulty, replace the motor
Err.009： 3. Bad contact of motor cable;
timely;
Over-current fault A 4. Motor cable is grounded;
5. Check if the cable is well connected with UVW. If it is short-circuit-
5. Motor UVW is short-circuited;
ed, then reconnect the motor cable correctly;
6. Motor is burnt;
6. Check whether the resistor values between the cables are the
7. Software detects the over-current in power
same. If not, then replace the motor;
transistors.
7. Reduce loads, increase the capacity of the drive and motor, and
extend the acceleration and deceleration times.
197
rr.010：
1 Control chip initialization failure; 1. Check if the drive is installed and wired correctly;
Hardware initializa-
2 Localized damage to the circuit board; 2. If the drive is damaged, please contact the manufacturer for repair.
tion fault
Err.011： 1. Contact the manufacturer to confirm whether the drive version
Internal drive abnormality, or firmware update
Program execution and firmware version are matching;
abnormality
error 2. Replace with a new drive.
Incremental encoder:
1. Abnormal Z signal receiving; bad wiring of the Z 1. Manually rotate the motor shaft first, if there is still a fault report,
signal cable; or Z signal's loss of absolute encoder then check the encoder wiring, rewire or replace the cable, or replace
resulted from encoder fault; the encoder, and re-power the equipment;
Err.012： Absolute encoder: 2. Determine whether the battery is normal first, if the battery
Abnormal absolute 2. Inadequate absolute encoder battery power voltage is not adequate, please replace the battery;
encoder turn supply. 3. Set P20.06 to 7 to initialize the number of turns, and reconnect to
3. Parameter P06.47 is set to 1 (set as an absolute the power supply.;
system). Encoder initialization is not performed. 4. Set P20.06 to 7 to initialize the number of turns, and reconnect to
4. The encoder motor terminal is unplugged or the power supply.
plugged in during power off.
1. The communication encoder cable is discon-
Err.013：
nected; 1. Check the encoder connection or replace the encoder cable;
Abnormal encoder
2. The encoder is not grounded; 2. Check if the encoder is well grounded.
communication
3. Communication verification is abnormal.
1. Disconnection or bad contact of the serial
Err.014：
encoder ;
Abnormal encoder Check or replace the encoder cable.
2. The reading/writing of the serial encoder data is
data
abnormal.
Err.015：
The encoder battery voltage is lower than the
Abnormal un-
threshold value specified by P06.48; the tens place Replace the encoder battery.
der-voltage of
of P06.47 is 1.
encoder battery
1. Increase the setting value of P06.45;
Err.016： The absolute value between the speed instruction
2. Extend acceleration/deceleration time of internal position instruc-
Overlarge speed and measured speed surpasses the set threshold
H
tion or adjust the response of the gain system;
deviation of P06.45.
3. Set P06.45 to 0 to disable the overlarge speed deviation function.

Err.017： Torque maintains a long-term saturated state,
1. Increase the time span specified by P06.46 ;
Torque saturation which lasts longer than the threshold time speci-
2. Check if UVW is disconnected.
timeout fied by P06.46.
Err.018：
Control power input cable is not connected well or 1. Check input power supply and cables;
Control power
the input power supply is abnormal. 2. Replace the drive with a new one.
under-voltage
1. Check UVW and encoder wiring.
Err.019： Circuit divergence results from incorrect wiring,
2. Check the motor and drive. Replace it when necessary and contact
Tripping which leads to motor tripping and loss of speed.
HCFA detection.
1. Input a correct power voltage range;
1. The voltage of the power supply exceeds AC
2. Check if the drive has already connected with an external resistor;
280V, which surpasses the limited range;
check if the external resistor value has been disconnected to ensure
2. Breakage or incompatibility of braking resistor,
Err.020： correct wiring. If the resistor has been burnt, it is recommended to
which leads to failure of absorbing regenerative
Over-voltage replace it with a larger external resistor (please contact HCFA to
energy.
access relevant suggestions).
3. The load inertia exceeds the allowable range;
3. Extend acceleration/deceleration time or replace a matching drive/
4. Faulty drive.
motor according to load inertia.
198
1. Power voltage decrease;
1. Increase the capacity of power voltage. Make sure input power is
2. Instantaneous power outage;
Err.021： stable;
3. Under-voltage protection threshold (P06.36) is
Under-voltage 2. Check whether the under-voltage protection threshold (P06.36) is
too high;
set too high.
4. Faulty drive
Err.022：
Current sampling Current sampling fault of the drive Replace servo drive
fault
Err.023：
1. AI wiring error Check whether the AI input is well connected and set the input
Overlarge AI
2. External input voltage is too high. voltage within the range of ±10V.
sampling voltage
1. Speed instruction exceeds the specified maxi-
1. Lower the speed instruction;
mum rotation speed
Err.024： 2. Check whether the UVW phase sequence is correct;
2. UVW phase sequence error
Over-speed 3. Adjust the gain of the speed loop to reduce overshoot;
3. Serious overshoot of speed response
4. Replace the drive.
4. Faulty drive
Err.025：
1. Over large load or inertia; 1. Reduce load or increase current loop gains
Electric angle
2. Incorrect encoder cable wiring 2. Replace the encoder cable.
identification failure
1. Load or inertia is too large, making the motor
Err.026： fail to operate normally according to the specified
1. Reduce load or increase current loop gains;
Inertia identification curve.
2. Ensure a correct identification process.
failure 2. Other faults occur, which results in the end of
the identification process.
1. In P04.01~P04.09, there are cases where the same function is
1. Different physical DI terminals are assigned to assigned to more than one physical DI terminal;
Err.027：
the same DI function. 2. The function assigned in P04.01 to P04.09 is activated at the same
DI terminal parame-
2. Both physical DI terminals and communication time as the corresponding binary bit in P09.05 to P09.08. Please refer
ter setting fault
control DI functions are assigned at the same time. to the ways of using P09.05 to P09.08. Reassign the DI function for
detailed information.
Err.028：
Different DO terminals are assigned to the same In cases where the same function is assigned to more than one DO
H
DO terminal param-
function. terminal in P04.21 to P04.29, please reassign the DO function.
eter setting fault

1. Check instruction input time sequence and input instruction after
the servo connects with "o_rdy";
2. Check if the braking resistor meets specifications. If not, then
1. The instruction input is synchronized with servo
replace it with a matching resistor according to the manual;
connection or is too fast.
3. Check if the encoder cable is normal and fasten the connector;
2. The external braking resistor is too small or
4. Check the insulation resistance between the motor UVW wire and
short-circuited;
the motor ground wire. When insulation is faulty, replace the motor
Err.029： 3. Bad contact of motor cable;
timely;
Over-current fault B 4. Motor cable is grounded;
5. Check if the cable is well connected with UVW. If it is short-circuit-
5. Motor UVW is short-circuited;
ed, then reconnect the motor cable correctly;
6. Motor is burnt;
6. Check whether the resistor values between the cables are the
7. Software detects the over-current in power
same. If not, then replace the motor;
transistors.
7. Reduce loads, increase the capacity of the drive and motor, and
extend the
acceleration and deceleration times.
199
1、Cancel the gantry mode, check whether the two shafts are
1. The phase sequence of the two shafts of the
running normally, and replace the correct wiring to make it normal.
Err.030: gantry synchronization may be problematic.
2、Check the machinery, replace the parts, determine the correct
Overlarge gantry 2. One shaft is blocked.
initial position, or reassemble it to make it normal.
mixed deviation 3. The mutual position feedback of the two shafts
3、Check whether the feedback wiring between the two shafts is
of the gantry is not normal.
normal, and whether the parameter setting is normal.
Err.031： 1. Eliminate interference, add magnetic ring to UVW, check whether
1. Serious on-site interference
Gantry synchro- the ground is standardized;
2. Gantry synchronization feedback wiring error
nization feedback 2. Change the wiring again;
3. Feedback cable problem
abnormality 3. Replace the cable with a good one.
Err.032： 1. Rotate the motor shaft manually, if it still reports a fault, check the
ABZ signal cable is broken and need to be replaced
External encoder encoder wiring, rewire or replace the cable, or replace the encoder
with a good one.
disconnection and re-power up.
Err.033：
1. Communicating encoder is disconnected;
Abnormal external 1. Check the encoder wiring, or replace the encoder cable;
2. The encoder is not grounded;
encoder communi- 2. Check whether the encoder is well grounded.
3. Abnormal communication verification.
cation
Err.034：
Gantry synchro-
1. These two functions cannot be turned on at the 1. Reset the parameters of group P17 to ensure that the gantry is
nization and full
same time synchronized and fully closed loop is not turned on at the same time.
closed loop param-
eter error
Err.039：
After updating the drive underlay, this fault may Re-import the user parameters (including the P18/P19 group param-
EEPROM checksum
occur when powering up for the first time eters), and then re-power up the device.
word error
Err.040： After executing the auxiliary function to energize
Invalid servo ON the motor, the servo-ON instruction is still input Change inappropriate operating practices.
instruction fault from the host device.
Err.042： Change the division output setting function code so that the division
Pulse division output surpasses the upper limit of
Over-speed pulse output pulse frequency will not exceed the limit in the speed range
the hardware.
H
division output during operation.
1. Reconnect the cables after checking the connection of the BUS

circuit cable
2. Increase servo gains if the gain of the servo drive is too low;
1. Servo motor UVW wiring is incorrect;
3. Re-operate the device after reducing instruction frequency or
2. Servo drive gain is low;
acceleration, or adjusting gear ratio;
Err.043： 3. Position instruction pulse frequency is high;
4. Re-operate the device after reducing instruction acceleration and
Overlarge position 4 Position instruction acceleration is too large;
add smoothing parameters such as position instruction acceleration
deviation 5. Position deviation is too large and P00.19 is set
or deceleration time parameter;
too low;
5. Check if the value of P00.19 is appropriate. If not, then set an
6. Faulty servo drive/motor ;
appropriate one (P00.19).
6. Check the running waveform in the background, if there is no
feedback from the input, please replace the servo drive.
200
1. Check whether the three-phase power supply cable is well con-
nected ( Note: Do not operate with the power supply on.);
1. Bad contact of the three-phase input cable;
Err.044： 2. Measure the voltage of each phase of the three-phase power
2. Phase loss fault, i.e., when the main power sup-
Main circuit input supply to ensure that the input power supply is balanced or that the
ply is ON, the voltage of one of the R\S\T phases is
phase loss input power supply voltage conforms to the specifications;
too low for more than 1 second.
3. Single-phase power supply is used for the main power supply, and
this fault can be shielded by parameter P06.30.
Err.045：
1. Bad connection of UVW 1. Check UVW wiring
Drive output phase
2. Disconnection resulted from a faulty drive 2. Replace servo motor
loss
The loaded operation exceeds the drive inverse
time curve.
The causes are as follows: 1. Confirm that the motor UVW wire and encoder wiring are correct;
1. The motor UVW cable or encoder cable is loose 2. Confirm that the motor is not blocked or driven by force, and
or faulty; confirm that the mechanical brake (holding brake) is on;
2. The motor is blocked or acted upon by force, 3. Confirm that there is no cross-wiring of multiple drives and
including mechanical jamming, collision, gravity motors, i.e., the UVW cable and the encoder cable of a motor are
Err.046：
force, and other acts of force. Or the mechanical connected to their corresponding drive;
Overloaded drive
brake is not released during operation. 4. Extend the acceleration and deceleration time, and re-select the
3. Misconnect the UVW and encoder wires of the appropriate drive or motor;
same motor to different drives when wiring multi- 5. Check whether the motor output UVW is connected incorrectly
ple drives. and whether it is shorted to ground;
4. Overload or the drive or motor size is too small. 6. Replace the drive or motor;
5. Possible lack of phase or wrong phase sequence.
6. Damaged drive or motor
Err.047：
Overloaded motor The loaded operation exceeds
the drive inverse time curve. 1. Confirm that the motor UVW wire and encoder wiring are correct;
The causes are as follows: 2. Confirm that the motor is not blocked or driven by force, and
1. The motor UVW cable or encoder cable is loose confirm that the mechanical brake (holding brake) is on;
or faulty; 3. Confirm that there is no cross-wiring of multiple drives and
H
2. The motor is blocked or acted upon by force, motors, i.e., the UVW cable and the encoder cable of a motor are
Err.047： including mechanical jamming, collision, gravity connected to their corresponding drive;

Overloaded motor force, and other acts of force. Or the mechanical 4. Extend the acceleration and deceleration time, and re-select the
brake is not released during operation. appropriate drive or motor;
3. Misconnect the UVW and encoder wires of the 5. Check whether the motor output UVW is connected incorrectly
same motor to different drives when wiring multi- and whether it is shorted to ground;
ple drives. 6. Replace the drive or motor
4. Overload or the drive or motor size is too small.
Err.048：
The gear ratio exceeds the specified range [encoder
Electronic gear Set the correct gear ratio.
resolution/10000000, encoder resolution/2.5 ].
setting error
201
1. Check if the fan operates normally, and replace the fan or drive if it
is abnormal;
2. Measure the ambient temperature and improve the cooling
1. Faulty fan;
conditions of the servo drive to reduce the ambient temperature;
2. Ambient temperature is too high;
3、Check if an overload fault has been reported before. The way to
3. Repetitive reset overload fault through pow-
Err.049： correct the fault is to wait for 30 seconds after overload and then
er-off
Overheated heat reset the equipment. If the power of the drive or motor is too small,
4. Install the drive in the wrong direction and leave
spreader increase the capacity, extend the acceleration and deceleration time,
inappropriate clearance between drives;
and reduce the load.
5. The servo drive is faulty;
4. Confirm the setting state of the drive and install it according to the
6. The motor or drive is faulty.
installation standards;
5. If a fault is still reported after a 5-minute power off and then
restart, replace the drive.
1. Adjust the maximum pulse frequency parameter P06.38;
Err.050： 1. Input pulse frequency is larger than the specified
2. Use the background software to check whether the instruction is
Abnormal pulse maximum pulse frequency
abnormal; ensure a reliable grounding; use a twisted pair of shielded
input 2. Input pulse is interfered.
wires, and separate the input cable from the power cable.
1. Confirm that the external encoder is correctly wired. If it is not,
Err.051：
1. Abnormal external encoder; then replace it with a new one.
Overlarge full-loop
2. Relative setting is too conservative. 2. Full-loop deviation is too large; the protection function setting is
position deviation
incorrect. Confirm and correct the setting of relevant parameters.
Err.054： Enter faulty state forcibly through DI function 32 Normal DI function inputs, which are configured with DI function 32
User forced fault (FORCE_ERR). and valid inputs. Disconnecting the inputs can release the alarm.
Err.055：
Absolute position Faulty position reset of absolute encoder Contact HCFA for technical supports.
resetting fault
Err.056： Power outage or abnormal main power line. (Note:
Check if there is an instantaneous power decrease. Increase power
Main circuit power This fault does not store the record by default, it
voltage capacity.
outage can be set whether to store or not through P07.19
Err.057： 1. DB braking is too frequent; 1. Reduce the number of braking times or change the parameter
Overloaded DB 2. Load inertia is too large, the speed is too high, settings
H
brake resulting in long braking time. 2. Reduce the load inertia or reduce the maximum operating speed.
Err.059：
Mismatch between drive hardware identification

Drive model identi- Check drive version and software version.
model and underlay version
fication failure
Err.060：
First startup after downloading a customized
The first start after
version of the program in a drive that already has a Restore factory values for loading customized parameters.
writing customized
standard program.
software
Err.065： CAN bus disconnection or abnormal reception or
Check wiring and reconnect.
CAN BUS OFF transmission
Err.066：
Receive NMT stop or reset command at servo-ON NMT node reset. Do not stop or reset the CAN node at the servo-ON
Abnormal NMT
state. state.
command
Err.067： CAN BUS disconnection or abnormal receiving/
Check the wiring and reconnect it.
CAN BUS fault sending process.
202
1. The speed instruction exceeds the maximum
1. Reduce speed instruction;
Err.068： speed setting;
2. Check the UVW phase sequence is correct;
External overspeed 2. UVW phase sequence error;
3. Adjust the speed loop gain to reduce overshoot;
(reserved) 3. Speed response is seriously overshoot;
4. Replace the drive.
4. Faulty drive
Err.069： 1. External encoder is disconnected; 1. Check or replace external encoder and wiring;
Overlarge mixed 2. Damaged external encoder; 2. Inspect or replace external encoder and wiring;
deviation 3. Device transmission failure 3. Inspect and repair mechanical transmission sections
Err.071：
No response is received when node protection and
Node protection or Check if the nodes are online, and reset the NMT node.
heartbeat monitoring reach the specified time.
heartbeat timeout
Err.072：
Synchronization with the host device is invalid
Synchronization NMT node reset; 6040 sends fault reset command.
under the CANOpen IP mode
invalidation
Err.073： Check if there is any interference to the communication and normal
Lose synchronous clock more than 2 times under
CANOpen trace operation of the host device; reset NMT node or 6040 sends fault
the CANOpen IP or CSP mode.
buffer underflow reset command.
Check any interference to the communication circuit and normal
Err.074： Synchronous clock runs too fast or the actual clock
operation of the host device; check the matching between clock
CANOpen trace frequency do not match the setting value under
frequency and the setting value. NMT node reset or 6040 sends fault
buffer overflow the CANOpen IP or CSP mode.
reset command.
AL.080：
1. Check the main circuit power supply.
Under-voltage Busbar voltage is low.
2. Lower under-voltage detection parameter P06.36.
alarm
time curve.
1. Confirm that the motor UVW wire and encoder wiring are correct;
The causes are as follows:
2. Confirm that the motor is not blocked or driven by force, and
1. The motor UVW cable or encoder cable is loose
confirm that the mechanical brake (holding brake) is on;
or faulty;
3. Confirm that there is no cross-wiring of multiple drives and
2. The motor is blocked or acted upon by force,
motors, i.e., the UVW cable and the encoder cable of a motor are
AL.081： including mechanical jamming, collision, gravity
connected to their corresponding drive;
H
Overloaded drive force, or other acts of force, or the mechanical
4. Extend the acceleration and deceleration time, and re-select the
alarm brake is not released during operation.
appropriate drive or motor;

3. Misconnect the UVW and encoder wires of the
5. Check whether the motor output UVW is connected incorrectly
same motor to different drives when wiring multi-
and whether it is shorted to ground;
ple drives.
6. Replace the drive or motor.
4. Overload or the drive or motor size is too small.
203
time curve.
The causes are as follows: 1. Confirm that the motor UVW wire and encoder wiring are correct;
1. The motor UVW cable or encoder cable is loose 2. Confirm that the motor is not blocked or driven by force, and
or faulty; confirm that the mechanical brake (holding brake) is on;
2. The motor is blocked or acted upon by force, 3. Confirm that there is no cross-wiring of multiple drives and
AL.082： including mechanical jamming, collision, gravity motors, i.e., the UVW cable and the encoder cable of a motor are
Overloaded motor force, or other acts of force, or the mechanical connected to their corresponding drive;
alarm brake is not released during operation. 4. Extend the acceleration and deceleration time, and re-select the
3. Misconnect the UVW and encoder wires of the appropriate drive or motor;
same motor to different drives when wiring multi- 5. Check whether the motor output UVW is connected incorrectly
ple drives. and whether it is shorted to ground;
4. Overload or the drive or motor size is too small. 6. Replace the drive or motor.
AL.083：
Modification of Modify parameters that need restarting for going
Reconnect to the power supply.
parameters that into effect
need power restart
AL.084：
Conduct servo-ON when the servo is not ready. Enable the drive after detecting signals of servo READY.
Servo not ready
AL.085：
Reduce EEPROM writing frequency. Use the communication writing
E2PROM writing Operating E2PROM too frequently.
instruction that does not save EEPROM.
frequency alarm
1. Pot and Not are valid simultaneously, but gen-
AL.086： erally, they do not appear at the same time on the Positive limit switch is triggered, check the operation mode, give
Positive over-travel workbench. negative instruction or manually rotate the motor away from the
alarm 2. Servo axes are in the over-travel state in a cer- positive limit, it will automatically clear the alarm.
tain direction, which can be released automatically.
1. Pot and Not are valid simultaneously, but gen-
AL.087： erally, they do not appear at the same time on the Negative limit switch triggered, check operation mode, give positive
H
Negative over-trav- workbench. instruction or manually rotate the motor away from the positive limit,
el alarm 2. Servo axes are in the over-travel state in a cer- it will automatically clear the alarm.

tain direction, which can be released automatically.
AL.088：
1. Gear ratio is too large; 1. Reduce gear ratio;
Position instruction
2. Pulse frequency is too high. 2. Reduce pulse frequency.
over-speed
AL.090：
Absolute encoder Over large deviation (more than 7.2 degrees kWh)
Replace motor.
angle initialization during re-initialization of encoder angle alarm
alarm
204
Energy consumption braking power is overloaded:
1. Incorrect wiring or bad contact of the braking
resistor;
2. Short connecting cable may be disconnected 1. Check if the resistor wiring is correct;
when using an internal resistor; 2. Check if the internal resistor wiring is correct;
AL.093： 3. Insufficient braking resistor capacity; 3. Increase braking resistor capacity;
Overloaded energy 4. Prolonged braking due to overlarge braking 4. Reduce braking resistor value;
consumption brake resistor value; 5. Reduce input voltage;
5. Input voltage exceeds the specifications; 6. Set correct parameters according to specifications;
6. Incorrect setting of constants including braking 7. Replace drive.
resistor value, capacity, or heat generation time
constant;
7. Faulty drive.
AL.094：
1. External regenerative resistor value is smaller 1. Configure the power of the external regenerative resistor accord-
Over-small exter-
than the minimum value specified by the drive. ing to the specifications;
nal regenerative
2. Incorrect parameter setting. 2. Check that parameters P00.21 to P00.24 are correct.
resistor
AL.095： Normal DI function inputs, configured with DI function 30 and valid
The emergency stop is triggered.
Emergency stop inputs. Disconnecting the inputs can release the alarm.
1. Homing time exceeds the value specified by
P08.95
1. Increase the specified value of P08.95;
AL.096： 2. P08.90 is set to 3, 4, or 5 and encounters the
2. Reduce homing searching speeds P08.92, and P08.93 to avoid the
Homing error limit;
alarm caused by over-speed of homing.
3. Encounter limit twice when not using limit as the
origin.
AL.097：
Encoder battery voltage is below the threshold
Encoder battery Check or replace encoder battery.
value specified by P06.48.
under-voltage
AL.098：
Unfinished AD ADC sampling fault Check the drive.
sampling
H
205
Innovation Integrity Service
HCFA HCFA_ATC
Zhejiang Hechuan Technology Co., Ltd.

No.9, Fucai Road, Longyou Industrial Zone, Quzhou City, Zhejiang Province, P.R. China
R&D Center (Hangzhou)

No. 299, Lixin Road, Qingshanhu Road, Lin'an District, Hangzhou City, Zhejiang Province, P.R. China
400 TEL - 400-012-6969

HCFA Official Website - www.hcfa.cn
This manual may include information about other products, their names, trademarks, or registered trademarks, which are the property of other companies
and not owned by HCFA. The information provided in this manual is subject to change without prior notice.

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SV-X5-Series

June 2024 V1.00

About the instruction manual.................................................................................................................... 5

Confirmations during unpacking.............................................................................................................. 5

Chapter 1 Model introduction, selection and installation 9

1.1 About the drive................................................................................................................................. 10

1.1.2 Part names................................................................................................................................................................. 11

1.1.3 Basic specifications.................................................................................................................................................. 12

1.1.4 Overload detection characteristics..................................................................................................................... 17

1.1.5 Drive dimension........................................................................................................................................................ 18

1.2 About the motor............................................................................................................................... 19

1.2.2 Motor part names.................................................................................................................................................... 20

1.2.3 Basic specifications.................................................................................................................................................. 21

1.2.4 Allowable load of the output shaft..................................................................................................................... 26

1.2.5 N-T characteristics chart........................................................................................................................................ 27

1.2.6 Encoder specifications............................................................................................................................................ 30

1.2.7 About the oil seal..................................................................................................................................................... 30

1.2.8 Motor dimension...................................................................................................................................................... 31

1.3 External regenerative resistor selection..................................................................................... 37

1.4 Matching models for drives and motors.................................................................................... 38

1.5 Selection of peripheral cables and connector accessories................................................... 39

1.6 Installation of the drive and motor.............................................................................................. 41

1.6.2 Dustproof and waterproof..................................................................................................................................... 41

1.6.3 Installation direction and clearance.................................................................................................................... 41

Chapter 2 Motor and drive wiring instructions 43

2.1 System wiring diagram.................................................................................................................... 44

2.2 Description of motor connector interface ................................................................................ 47

2.3 Description of drive connector interface .................................................................................. 50

2.5 Instructions for using the CN2 interface（STO function）................................................... 52

2.6 Instructions for using the CN3 interface（USB connection interface）........................... 54

2.7 Instructions for using the CN4/CN5 interface ......................................................................... 54

2.9 Instructions for using the CN7 interface (encoder connection).......................................... 62

2.10 Timing diagram................................................................................................................................. 63

Chapter 3 Panel display and operation 66

3.1 Panel display and key description................................................................................................ 67

3.2 Display description........................................................................................................................... 68

3.3 JOG and parameter identification................................................................................................ 70

3.3.2 Key operation and display for parameter identification.............................................................................. 70

Chapter 4 Control function 71

4.1 Position control mode..................................................................................................................... 72

4.2 Speed control mode......................................................................................................................... 76

4.3 Torque control mode........................................................................................................................ 79

4.4 Motion control function.................................................................................................................. 81

4.4.2 Interrupt positioning............................................................................................................................................... 84

4.5 Full closed-loop control.................................................................................................................. 90

Chapter 5 Application function 94

5.1 Stop protection function................................................................................................................ 95

5.1.2 Fault stop protection.............................................................................................................................................. 95

5.1.3 Over-travel stop protection.................................................................................................................................. 96

5.1.4 Stop protection deceleration time...................................................................................................................... 96

5.2 Soft limit function............................................................................................................................. 96

5.3 Absolute system................................................................................................................................ 97

5.4 Pulse output function...................................................................................................................... 98

5.4.2 Z-phase signal output...........................................................................................................................................100

5.4.3 Pulse synchronization output function............................................................................................................100

5.5 MODBUS communication.............................................................................................................101

5.5.2 Read/write command by communication.......................................................................................................101

5.5.3 Control DI functions by communication..........................................................................................................103

5.5.4 Read DO function by communication..............................................................................................................104